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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
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.
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.
