Dual-Modulus Microcone Array for Graded Tactile Sensing and Intelligent Slip Detection

This work reports a dual-modulus microcone array for graded tactile sensing and intelligent slip detection. The asymmetric microstructure─comprising hollow and solid polydimethylsiloxane/carbon nanotube (PDMS/CNT) microneedle arrays with distinct Young's moduli (460.8 kPa vs 581.2 kPa)─produces a hierarchical mechanical response fundamentally different from conventional single-modulus designs. This structural design yields high sensitivity (9.55 kPa^-1) over a broad pressure range (0.1-450 kPa), fast response/recovery (68/51 ms), and durability exceeding 10000 cycles. The superhydrophobic surface (contact angle 156.5 ± 1.0°, sliding angle <2°) ensures stable operation in wet and variable-temperature environments (10-70 °C). Integrated with a one-dimensional convolutional neural network for slip detection and adaptive feedback control, the sensor enables real-time grip force regulation during delicate object manipulation, minimizing mechanical damage and contamination. This work establishes a materials platform that couples interfacial engineering with machine learning-enhanced perception, with implications for soft robotics, wearable electronics, and intelligent human-machine interfaces.