Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation.

Journal: Nature communications
Published Date: Jul 30, 2025

Abstract

Dexterous manipulation in robotics requires coordinated sensing, signal processing, and actuation for real-time, precise object control. Despite advances, the current artificial tactile sensory system lacks the proficiency of the human sensory system in detecting multidirectional forces and multimodal stimuli. To address this limitation, we present a bio-inspired "slip-actuated" tactile sensing system, incorporating dynamic direct-current generator into stretchable electronic textile. This self-powered bionic tactile sensing system operates in conjunction with a normal force sensor, paralleling the functions of human rapid-adapting and slow-adapting mechanoreceptors, respectively. Furthermore, we tailor and integrate the bionic tactile sensing system with robotic fingers, creating a bionic design that mimics human skin and skeleton with mechanoreceptors. By embedding this system into the feedback loop of robotic fingers, we are able to achieve fast slip and grasp monitoring, as well as effective object manipulation. Moreover, we perform quantitative analysis based on Hertzian contact mechanics to fundamentally understand the dependency of output on force and velocity in our sensor system. The results of this work provide an artificial tactile sensing mechanism for AI-driven smart robotics with human-inspired tactile sensing capabilities for future manufacturing, healthcare, and human-machine interaction.

Authors

  • Vashin Gautham
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Ashutosh Panpalia
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Hamid Manouchehri
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Krushang Khimjibhai Gabani
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Vinoop Anil
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Shakunthala Yerneni
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Rohit Thakar
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Aayush Nayyar
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Mandar Anil Payare
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Emily Jorgensen
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Ruizhe Yang
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, West Da-zhi Street 92, Harbin, Heilongjiang 150001, People's Republic of China. rykhit@hit.edu.cn.
  • Ehsan Esfahani
    Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY, USA.
  • Jun Liu
    Department of Radiology, Second Xiangya Hospital, Changsha, Hunan, China.

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