A robust and omnidirectional-sensitive electronic antenna for tactile-induced perception

Abstract

Skin-like planar tactile sensors have achieved adaptive gripping, in-hand manipulation, and human-machine interaction but remain limited in tasks requiring active environmental interaction and robustness against large mechanical perturbations. Inspired by the biological antennas of nocturnal insects, we introduce a biological antenna-like electronic tactile sensor with enhanced mechanical robustness, capable of withstanding 1800% twist, 224% stretch, 360° bending, large compression, and punctures. Through segmented flexibility and partial magnetization, it achieves an impressive 1.76° omnidirectional loading recognition accuracy, outperforming biological antennas by 17 times. Its scalable plug-and-play capability, combined with an tactile perception algorithm, ensures seamless integration across various robots for diverse tasks. We demonstrate the vision-free navigation with 0.2 mm tracking deviation, 97% accuracy in ground texture recognition, and conformal robotic brushing on serpentine surfaces with a force variance of 0.34 N. This research offers valuable insights for active tactile-based environmental perception and interaction, promising advancements in robotics across various fields.