Design concept and characteristics of the fully soft and multipurpose robotic tactile sensor (IMAGE)
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(a) Design concept and configuration of the robotic sensors with quadruple sensing functions for reliable HRI. (i) Schematic diagram showing the sensing capabilities of natural skin with diverse sensory receptors for object perception and manipulation. (ii) Composition and structure layout of the robotic sensors. (iii) Quadruple sensing functionalities of the robotic sensors, including thermal approach sensing, thermal touch sensing, spatial approach sensing, and mechanical force sensing. (b) Digital pictures showing the flexibility and softness of the fabricated robotic sensors. (c) Schematic illustrating the recyclability of the robotic sensors.
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