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Related Experiment Video

Updated: Jun 25, 2026

Measurement of Dynamic Force Acted on Water Strider Leg Jumping Upward by the PVDF Film Sensor
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Published on: August 3, 2018

Highly Sensitive Iontronic-Based Aquatic Triaxis Force Sensor with Hybrid Microstructures for Delicate Force Sensing

Chunyu Li1,2, Zhongtan Zhang2, Deqing Mei2

  • 1State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China.

ACS Applied Materials & Interfaces
|June 24, 2026
PubMed
Summary

We developed a novel iontronic aquatic triaxis force sensor that precisely measures forces underwater. Its open-architecture design overcomes hydrostatic pressure, enabling reliable robotic manipulation in aquatic environments.

Keywords:
delicate perceptionhybrid microstructureiontronic tactile sensortriaxis force sensingunderwater robots

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Last Updated: Jun 25, 2026

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Area of Science:

  • Robotics
  • Sensor Technology
  • Materials Science

Background:

  • Aquatic robotic manipulation demands precise force sensing.
  • Existing sensors struggle with hydrostatic pressure and limited sensitivity.
  • Iontronic sensors offer a potential solution for underwater force detection.

Purpose of the Study:

  • To develop a novel, highly sensitive triaxis force sensor for aquatic environments.
  • To address challenges of hydrostatic pressure and sensitivity in underwater force sensing.
  • To enable precise three-axis force measurement for robotic applications.

Main Methods:

  • Developed an iontronic-based aquatic triaxis force sensor with an open-architecture design.
  • Incorporated hybrid sensitive microstructures with distinct elastic moduli.
  • Established a mathematical model using differential capacitance changes for triaxis force sensing.

Main Results:

  • Achieved high normal force sensitivity (0.32 N⁻¹) within a 0-18.5 N range.
  • Demonstrated high shear force sensitivity (0.761 N⁻¹ for x-axis, 0.758 N⁻¹ for y-axis) within a 0-4.2 N range.
  • Obtained high force resolution (0.02 N normal, 0.01 N shear) and consistent performance in varying aquatic conditions.

Conclusions:

  • The developed sensor effectively compensates for hydrostatic pressure, enhancing underwater robotic manipulation.
  • The sensor's high sensitivity and resolution enable delicate three-axis force measurements.
  • Validated potential for object grasping and underwater pipeline docking applications.