High-Linearity Capacitive 3-D Force-Flexible Tactile Sensor Inspired by Mushroom Structure for Human Motion Monitoring and Robotic Gripping

To improve the grasping perception capability of robotic hands, this article explores the design of a high-linear 3-D force-flexible tactile sensor inspired by mushroom structures. Different from traditional 3-D force tactile sensor structures, this sensor adopts a novel biomimetic mushroom symmetrical structure, significantly enhancing the sensor's performance. Through theoretical calculations, finite element modeling (FEM) simulation, and dynamic/static experimental measurements, the experimental outcomes indicate that the sensor possesses a linearity coefficient of 0.965 across the entire scale spectrum with a minimal hysteresis of merely 2.65%, coupled with a response time of 62 ms at a substantial pressure of 6.5 kPa. Furthermore, to streamline the manufacturing procedure, we chose to utilize cost-effective, straightforward, and efficient 3-D printing technology, fluidic molding method, and layer-by-layer (LBL) assembly technique, which significantly minimizes the expenditure without jeopardizing performance and extends the sensor's application spectrum in realms such as e-skin and wearable electronic gadgets.