• Abstract Flexible tactile sensors are pivotal for advancing neuroprosthetics, human-machine interactions and intelligent robotics. • However, achieving highly sensitive tactile sensing to differentiate normal and tangential forces, particularly in mimicking the high-resolution multidimensional haptics of human fingers, remains a challenge. • Here we propose a triaxial force microsensor array made from graphene-liquid-metal composites. • Using anisotropic particle networks in microporous composites with pyramid geometries, we achieve normal-tangential force decoupling through multiscale structuring. • Our approach offers exceptional sensitivity of 110 kPa−1 over a 500 kPa linear range (R2 > 0.998), with <2° force direction measurement deviation. • The sensor array demonstrates force decoupling and slip detection via self-adjusted grasping of unknown objects.
Article Summaries:
- Researchers have developed a triaxial force microsensor array that mimics the multidimensional tactile sensing of human fingers. The array, fabricated from graphene-liquid‑metal composites with anisotropic particle networks and pyramid‑shaped micropores, decouples normal and tangential forces through multiscale structuring. It delivers exceptional sensitivity (110 kPa⁻¹) across a 500 kPa linear range (R² > 0.998) and measures force direction with less than 2° deviation. The sensor’s compact size and low detection limit are an order of magnitude better than existing devices, enabling precise 3D force sensing in micromanipulators and microrobots and advancing robotic dexterity.
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