Intelligent soft robotic fingers with multi-modality perception ability

A high-sensitivity flexible bionic tentacle sensor for multidimensional force sensing and autonomous obstacle avoidance applications

Bionic tentacle sensors are important in various fields, including obstacle avoidance, human‒machine interfaces, and soft robotics. However, most traditional tentacle sensors are based on rigid substrates, resulting in difficulty in detecting multidirectional forces originating from the external environment, which limits their application in complex environments. Herein, we proposed a high-sensitivity flexible bionic tentacle sensors (FBTSs). Specifically, the FBTS featured an ultrahigh sensitivity of 37.6 N-1 and an ultralow detection limit of 2.4 mN, which benefited from the design of a whisker-like signal amplifier and crossbeam architecture. Moreover, the FBTS exhibited favorable linearity (R2 = 0.98) and remarkable durability (more than 5000 cycles). This was determined according to the improvement in the uniformity of the sensing layer through a high-shear dispersion process. In addition, the FBTS could accurately distinguish the direction of external stimuli, resulting in the FBTS achieving roughness recognition, wind speed detection and autonomous obstacle avoidance. In particular, the ability of autonomous obstacle avoidance was suitably demonstrated by leading a bionic rat through a maze with the FBTS. Notably, the proposed FBTS could be widely applied in tactile sensing, orientation perception, and obstacle avoidance.

Machine learning-assisted novel recyclable flexible triboelectric nanogenerators for intelligent motion

In the smart era, big data analysis based on sensor units is important in intelligent motion. In this study, a dance sports and injury monitoring system (DIMS) based on a recyclable flexible triboelectric nanogenerator (RF-TENG) sensor module, a data processing hardware module, and an upper computer intelligent analysis module are developed to promote intelligent motion. The resultant RF-TENG exhibits an ultra-fast response time of 17 ms, coupled with robust stability demonstrated over 4200 operational cycles, with 6% variation in output voltage. The DIMS enables immersive training by providing visual feedback on sports status and interacting with virtual games. Combined with machine learning (K-nearest neighbor), good classification results are achieved for ground-jumping techniques. In addition, it shows some potential in sports injury prediction (i.e., ankle sprains, knee hyperextension). Overall, the sensing system designed in this study has broad prospects for future applications in intelligent motion and healthcare.

Multimodal Sensors Enabled Autonomous Soft Robotic System with Self-Adaptive Manipulation

Human hands are amazingly skilled at recognizing and handling objects of different sizes and shapes. To date, soft robots rarely demonstrate autonomy equivalent to that of humans for fine perception and dexterous operation. Here, an intelligent soft robotic system with autonomous operation and multimodal perception ability is developed by integrating capacitive sensors with triboelectric sensor. With distributed multiple sensors, our robot system can not only sense and memorize multimodal information but also enable an adaptive grasping method for robotic positioning and grasp control, during which the multimodal sensory information can be captured sensitively and fused at feature level for crossmodally recognizing objects, leading to a highly enhanced recognition capability. The proposed system, combining the performance and physical intelligence of biological systems (i.e., self-adaptive behavior and multimodal perception), will greatly advance the integration of soft actuators and robotics in many fields.