Science Advances
·
2024
·Vol. 10
·期 30
·
IF 11.7
Ye Qiu,Fangnan Wang,Zhuang Zhang,Kuanqiang Shi,Yi Song,Jiutian Lu,Minjia Xu,Mengyuan Qian,Wenan Zhang,Jixuan Wu,Zheng Zhang,Hao Chai,Aiping Liu,Hanqing Jiang,Huaping Wu
Replicating human somatosensory networks in robots is crucial for dexterous manipulation, ensuring the appropriate grasping force for objects of varying softness and textures. Despite advances in artificial haptic sensing for object recognition, accurately quantifying haptic perceptions to discern softness and texture remains challenging. Here, we report a methodology that uses a bimodal haptic sensor to capture multidimensional static and dynamic stimuli, allowing for the simultaneous quantification of softness and texture features. This method demonstrates synergistic measurements of elastic and frictional coefficients, thereby providing a universal strategy for acquiring the adaptive gripping force necessary for scarless, antislippage interaction with delicate objects. Equipped with this sensor, a robotic manipulator identifies porcine mucosal features with 98.44% accuracy and stably grasps visually indistinguishable mature white strawberries, enabling reliable tissue palpation and intelligent picking. The design concept and comprehensive guidelines presented would provide insights into haptic sensor development, promising benefits for robotics.
研究领域:
机器人学
·
触觉传感
·
生物医学工程
·
人工体感
·
机器感知
·
传感器设计
·
智能操作
✓ 已验证
DOI
高影响因子
ADVANCED FUNCTIONAL MATERIALS
·
2025
·
IF 19
Yunfei Zhang,Shuling Ye,Yaolong Yang,Rubin He,Jun Lin,Zeyang Hong,Conghui Yuan,Lizong Dai
Hydrogels in water or aqueous solutions swell or shrink unidirectionally until reaching an equilibrium state, which has been extensively studied through both experimental analysis and theoretical prediction. In this work, an unexpected concurrent swelling and deswelling behavior of hydrogels is reported, which manipulates the water state in the polymer networks. The osmotic pressure-driven rapid deswelling and the ionic electrostatic repulsion-driven slow swelling of hydrogels occur simultaneously, affording double-layered polyacrylamide (PAM) hydrogels, in which the rigid inner layer does not contains free water, while the soft outer layer comprises both bound and free water. The PAM hydrogels show uniaxial tensile fracture strengths and Young's moduli up to 104.2 MPa and 2.4 GPa, respectively, outperforming various polymeric and biological structural materials. This strategy is applicable to the general molding and three-dimensional (3D) printing techniques, providing wide possibilities for engineering applications. Such strong and rigid hydrogels can simultaneously serve as structural materials for load-bearing and act as functional materials for super-stress (25 to 6000 N) and highly adaptable tactile sensing. These findings enrich the hydrogel swell/deswelling theory and broaden the engineering applications of hydrogels as structural materials.
研究领域:
材料科学
·
生物医学工程
✓ 已验证
产品关联
DOI
高影响因子
ACS Nano
·
2023
·
IF 17.1
Shisheng Chen,Xueyang Ren,Jingfeng Xu,Yuehui Yuan,Jing Shi,Huaxu Ling,Yizhuo Yang,Wenjie Tang,Fangzhou Lu,Xiangqing Kong,Benhui Hu
A tactile sensor needs to perceive static pressures and dynamic forces in real-time with high accuracy for early diagnosis of diseases and development of intelligent medical prosthetics. However, biomechanical and external mechanical signals are always aliased (including variable physiological and pathological events and motion artifacts), bringing great challenges to precise identification of the signals of interest (SOI). Although the existing signal segmentation methods can extract SOI and remove artifacts by blind source separation and/or additional filters, they may restrict the recognizable patterns of the device, and even cause signal distortion. Herein, an in-memory tactile sensor (IMT) with a dynamically adjustable steep-slope region (SSR) and nanocavity-induced nonvolatility (retention time >1000 s) is proposed on the basis of a machano-gated transistor, which directly transduces the tactile stimuli to various dope states of the channel. The programmable SSR endows the sensor with a critical window of responsiveness, realizing the perception of signals on demand. Owing to the nonvolatility of the sensor, the mapping of mechanical cues with high spatiotemporal accuracy and associative learning between two physical inputs are realized, contributing to the accurate assessment of the tissue health status and ultralow-power (about 25.1 μW) identification of an occasionally occurring tremor.
研究领域:
生物医学工程
·
电子工程
·
材料科学
✓ 已验证
DOI
高影响因子
Nano Energy
·
2022
·
IF 19.069
Shengshun Duan,Huiying Yang,Jianlong Hong,Yinghui Li,Yucheng Lin,Di Zhu,Wei Lei,Jun Wu
Tactile electronic skin that could interface with biological nerve systems is essential for intelligent robotic prosthetics, human augmentation, novel human-machine interfaces. Although the use of soft elastomers with large compressibility and creating microstructures improved sensitivity and pressure sensing range, the intrinsic viscoelasticity of soft elastomers still results in slow response and cyclic hysteresis. Furtherly, due to the contradiction between compressibility and viscoelasticity of soft elastomers, elastomer-based tactile sensors with an optimal trade-off among sensitivity, sensing range, response speed, and low hysteresis remain a long-standing challenge. Here, we introduce the composite film through doping expandable microspheres into soft elastomers to achieve the optimal trade-off between compressibility and viscoelastic. We then report a tactile sensor based on the composite film with an enhanced irregular structure , which features high sensitivities (2093 kPa -1 ), low limit of detection (< 0.43 mN), fast response (< 4 ms), and low hysteresis (3.26%), exhibiting SA-I beyond and comparable low-frequency FA-I sensing capabilities. We demonstrate that the tactile sensor can simultaneously and independently encode the dynamic and static components of the pressure signals into frequency-modulated signals, respectively, closely mimicking SA-I receptors and FA-I receptors through computational approaches. This work provides a possible routine for advanced tactile sensors and minimalist artificial skin interfacing with biological nerve systems.
研究领域:
生物医学工程
·
材料科学
·
神经科学
✓ 已验证
DOI
高影响因子
Journal of Materials Chemistry C
·
2020
·Vol. 8
·期 17
·5913-5922
·
IF 7.059
Xiaoping Shen,Kangchen Nie,Li Zheng,Zhaosong Wang,Zhe Wang,Song Li,Chunde Jin,Qingfeng Sun
Taking inspiration from skeletal muscle with highly oriented myofibers, we developed a tough wood aerogel/poly(ionic liquid) (WA/PIL) hydrogel directly from wood via delignification, impregnation and gelation for the formation of a tactile sensor of electric double-layer capacitive configuration. The WA/PIL hydrogels integrated the representative properties of both wood and ionic liquids, being a promising candidate for both polyelectrolyte and separator materials. The influences of the wood texture and cross-linker (Bis) content on the mechanical and sensing performances of the hydrogels were investigated. The results showed that the tangential hydrogel slice with a 1.0 mol% Bis content (tan 1.0) displayed the most significant improvement in compressive stress (1.65 MPa) and deformation (73.3%) at fracture, suggesting the best compressibility. Electrodes also played a significant role in the sensitivity and stability of the sensor devices. While tan 1.0 with reduced graphene oxide (rGO) electrodes displayed the largest sensitivities (1.13–19.70 MPa−1), tan 1.0 with Ni foams possessed much more stable ionic signals within the whole stress range with sensitivities of 0.33–9.67 MPa−1. Due to the wide-stress-range responsiveness of our hydrogel sensor from gentle finger contact to vigorous hitting modes, it will find promising applications in various human–machine interfaces in the fields of electronics, recreation, sports, etc.
研究领域:
材料科学
·
生物医学工程
✓ 已验证
产品关联
DOI
高影响因子
Nano Energy
·
2019
·
IF 15.548
Xue-Feng Zhao,Cheng-Zhou Hang,Hong-Liang Lu,Ke Xu,Hao Zhang,Fan Yang,Ru-Guang Ma,Jia-Cheng Wang,David Wei Zhang
A flexible skin-like tactile sensor as one of the key components in the next generation for robots should have the ability to perform real-time feedback, continuous measurement, and quantization of weak target signals in the real applications (e.g. intelligent Braille recognition). Herein, inspired by human skin, a novel flexible piezoresistive tactile sensor with high sensitivity and linearity is designed and fabricated. It is composed of three main parts including the random Gaussian distribution (RGD) spinosum on polydimethylsiloxane as the top substrate, the multilayer Ti 2 C-MXene film as the intermediate conductive filler , and the commercial polyimide-based interdigital electrodes as the bottom substrate. The working mechanism of RGD spinosum and Ti 2 C-MXene films in the flexible tactile sensor are clarified by COMSOL Multiphysics simulations and density functional theory calculations, respectively. The assembled sensor demonstrates ultrahigh sensitivity, large linearity, excellent cycling stability, and fast response speed in the milliseconds. Moreover, the development of advanced neural network technology makes it possible to realize intelligent skin-like sensor. In this study, it is the first time to realize real-time Braille effective intelligent recognition by such a flexible skin-like tactile sensor with the random decision forests algorithm. This study is of great significance to solve the social and public issues of information exchange for the vision-impaired or even the blind that has been highly concerned in recent years.
研究领域:
材料科学
·
生物医学工程
·
人工智能
✓ 已验证
产品关联
DOI
高影响因子
Advanced Intelligent Systems
·
2022
·Vol. 4
·期 6
·2200050
·
IF 7.298
Depeng Kong,Geng Yang,Gaoyang Pang,Zhiqiu Ye,Honghao Lv,Zhangwei Yu,Fei Wang,Xi Vincent Wang,Kaichen Xu,Huayong Yang
Robots equipped with bionic skins for enhancing the robot perception capability are increasingly deployed in wide applications ranging from healthcare to industry. Artificial intelligence algorithms that can provide bionic skins with efficient signal processing functions further accelerate the development of this trend. Inspired by the somatosensory processing hierarchy of humans, the bioinspired co-design of a tactile sensor and a deep learning-based algorithm is proposed herein, simplifying the sensor structure while providing computation-enhanced tactile sensing performance. The soft piezoresistive sensor, based on the carbon black-coated polyurethane sponge, offers a continuous sensing area. By utilizing a customized deep neural network (DNN), it can detect external tactile stimulus spatially continuously. Besides, a novel data augmentation method is developed based on the sensor's hexagonal structure that has a sixfold rotation symmetry. It can significantly enhance the generalization ability of the DNN model by enriching the collected training data with generated pseudo-data. The functionality of the sensor and the robustness of the proposed data augmentation strategy are verified by precisely recognizing five touch modalities, illustrating a well-generalized performance, and providing a promising application prospect in human–robot interaction.
研究领域:
机器人学
·
人工智能
·
生物启发设计
✓ 已验证
产品关联
DOI
高影响因子
Advanced Fiber Materials
·
2022
·Vol. 4
·期 5
·1209-1218
·
IF 12.958
Guo Jiahui,Zhang Han,Zhang Hui,Chen Hanxu,Gu Zhuxiao,Zhang Dagan,Zhao Yuanjin
Tactile sensors with distinctive ability to imitate skins have attracted considerable attention from researches for applications in a variety of sensing fields. Here, inspired by the tentacles of jellyfish, biomimetic hydrogel microfibers were fabricated to be implanted with discrete structural color microsphere units for spatial tactile sensing. By employing a microfluidic spinning technology, the generated microfibers were with high microsphere encapsulation features and controllable morphologies because of the density match of microspheres and the pre-hydrogel solution. In addition, benefitting from the easy manipulation of the microfluidics, microfibers implanted with different structural color microspheres could also be realized. It was demonstrated that the resultant microfibers would show synchronous shifts of photonic bandgaps as well as structural color when a local force like pressure or tension was applied to the microsphere part. Based on the localization of finger bending experiments, the practical values of the bioinspired microfibers have also been proved as spatial tactile sensors. Thus, it is believed that the proposed bioinspired hydrogel microfibers are greatly significant in diverse sensing application fields. Graphical Abstract
研究领域:
材料科学
·
生物医学工程
·
传感器技术
✓ 已验证
产品关联
DOI
高影响因子
Nanoscale Horizons
·
2019
·Vol. 5
·期 3
·541-552
·
IF 9.095
Congyi Wu,Tian Zhang,Jian Zhang,Jin Huang,Xing Tang,Tingting Zhou,Youmin Rong,Yu Huang,Songxin Shi,Dawen Zeng
Flexible tactile sensors that imitate the skin tactile system have attracted extensive research interest due to their potential applications in medical diagnosis, intelligent robots and so on. However, it is still a great challenge to date to fabricate tactile sensors with both high sensitivity and wide detection range due to the difficulties in modulating the resistance variation in the sensing materials in a wide pressure range. Here, a tactile sensor with a novel design based on the hierarchical pressure-peak effect (HPPE) consisting of PVP nanowires and electroless deposition (ELD) silver PDMS micro-pyramids is reported. The HPPE can effectively modulate the resistance change rate by adjusting the change of contact area during compression deformation, and the HPPE tactile sensor was demonstrated to have both ultrahigh sensitivity (11.60–1108.75 kPa−1) and ultrawide pressure range (0.04–600 kPa). The designed HPPE tactile sensor is successfully utilized in detecting multi-level pressures including respiration, finger heart rate, pulse and foot pressures. Moreover, it is used to sense a subtle clamping force in the Leonardo Da Vinci surgical robot demonstrating the potential of the sensor in surgical robot applications. In all these cases, the sensor exhibits enough capability to respond quickly to ultrawide-range pressures with high accuracy and stability.
研究领域:
材料科学
·
生物医学工程
✓ 已验证
DOI
PubMed
高影响因子
ADVANCED FUNCTIONAL MATERIALS
·
2024
·
IF 18.5
Bin Li,Ruiqing Ge,Wenwen Du,Zhenning Wang,Tao Peng,Ruojiang Wang,Yu Chang,Tingrui Pan
Woodwork is involved in a variety of interactions with humans through physical contact, which may reveal valuable information if the tactile data can be unnoticeably extracted. In this work, an intelligent iontronic wood (iWood) device, along with its seamlessly integrated architecture into the woodwork, enabled by the iontronic sensing principle, is implemented. Notably, the tactile sensing structure is generated at the iontronic interface between ionic and conductive woods. In particular, the ionic wood is established by infusing an ionic liquid into the wood, followed by immobilizing it via chemical bonding, presenting both prominent ionic conductivity and excellent stability under pressure. By formatting the woods into identical strips, the high-density tactile sensing array can be simply formed by a braiding process for a scalable interwoven structure. As a result, the iWood device has offered a high sensitivity over a broad detection of 0.5 MPa and an array of 40 × 90 units covering an area up to 3600 cm 2 . The iWood device is showcased as an interactive human interface, demonstrating its potential as a smart desktop capable of gesture and object recognition, a health-tracking chair for real-time ballistocardiograph monitoring, and an embedded intelligent floor for weight management and gait analysis.
研究领域:
材料科学
·
生物医学工程
·
人机交互
✓ 已验证
产品关联
DOI
高影响因子
ACS Applied Materials & Interfaces
·
2020
·
IF 8.758
Ya-Feng Liu,Qun Liu,Jun-Fei Long,Feng-Lian Yi,Yuan-Qing Li,Xiao-Hua Lei,Pei Huang,Bing Du,Ning Hu,Shao-Yun Fu
Inspired by chameleons’ structural color regulation capability, a simple, but effective, swelling method is proposed for the first time to prepare an ionic polyacrylamide (PAAm) organogel for simultaneous tactile sensing and interactive color changing. The PAAm organogel obtained by swelling the PAAm scaffold in the dimethyl sulfoxide solution of organic electrochromic material (OECM) shows an extremely large stretchability with an elongation of 1600%, a supersoftness with a compressive modulus of 7.2 kPa, an excellent transmittance up to 90%, and a very fast response time of 0.5 s combined with the characteristic of interactive color changing. The PAAm organogel also suggests a universal design ability to tailor coloration spectra for tactile sensors via simply changing the type and content of OECM. The tactile sensor based on a PAAm organogel is capable of serving as a wearable device for precisely tracing human body motion performance and directly visualizing the stress distribution via interactive color changing capability. It is demonstrated that the swelling method proposed here is a simple and practical strategy to prepare ionic organogels with both piezo-resistive and electrochromic effects.
研究领域:
材料科学
·
生物仿生学
·
传感器技术
✓ 已验证
产品关联
DOI
PubMed
高影响因子
Nano Energy
·
2024
·
IF 16.8
Ziyao An,Zhiyi Wu,Yiran Hu,Chengcheng Han,Zhi Cao,Hanlin Zhou,Yongyang Chen
Tactile sensors can provide intuitive information about the shape, size, and texture of objects, which helps robots make more accurate decisions. In this paper, based on the principle of triboelectrification and electrostatic induction, a miniature tactile sensor (MTS) for smart object recognition is designed using composite materials based on silica gel . Its diameter is only 6 mm, and the electrodes are arranged in a circumferential array, which has excellent shape adaptability and can recognize curved materials with curvature of 1/15 mm −1 . By optimizing the sensor structure and process to obtain a microstructure with a spike-like shape, the sensitivity of the sensor is successfully improved, and the smallest and accurately detected surface material side length is 5 mm. In addition, the article provides a smart sensor system that can enhance the recognition function of robots with the help of machine learning technology, and the discrimination accuracy reaches 95.7%, which lays a solid foundation for practical applications.
研究领域:
机器人学
·
材料科学
·
生物医学工程
✓ 已验证
产品关联
DOI
高影响因子
危险品化学品经营许可证（带存储）