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Geometry-driven multimodal tactile sensors with high-fidelity perception enabled by strain-invariant oxidized liquid
Huidam Woo1, Jeeeun Lee1, Jisu Kim1
1Department of Robotics and Mechatronics Engineering, DGIST, Daegu, 42988, Republic of Korea. jaelee@dgist.ac.kr.
Materials Horizons
|July 8, 2026
Summary
This study presents a novel tactile sensor using oxidized liquid metal electrodes. This geometry-driven design overcomes instability issues, enabling precise multi-axis force detection for advanced robotics.
Area of Science:
- Robotics
- Materials Science
- Sensor Technology
Background:
- Dexterous robotic manipulation requires multi-axis tactile sensors to detect normal and shear forces.
- Conventional capacitive sensors face signal degradation due to electrode microcracks and resistance fluctuations.
Purpose of the Study:
- To develop a stable and reliable multimodal capacitive tactile sensor.
- To address the limitations of existing sensors in robotic applications.
Main Methods:
- Introduction of oxidized liquid metal (O-LM) electrodes for stable conductivity.
- Implementation of an anisotropically offset 2x2 capacitor array for geometric decoupling of forces.
- Design of a micro dome-pyramid hierarchical dielectric architecture.
Main Results:
- The O-LM electrodes exhibit near-invariant conductivity, eliminating instability.
- Achieved a sensitivity of 3.14 × 10^-3 kPa^-1 over a 0-160 kPa range.
- Demonstrated real-time three-axis force mapping on a robotic gripper during object manipulation.
Conclusions:
- A geometry-driven capacitive sensor design can provide reliable multimodal tactile perception.
- The developed sensor is suitable for practical robotic applications requiring dexterous manipulation.
- Oxidized liquid metal electrodes offer a promising solution for robust tactile sensing.
