Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation
Abstract Dexterous manipulation in robotics requires coordinated sensing, signal processing, and actuation for real-time, precise object control. Despite advances, the current artificial tactile sensory system lacks the proficiency of the human sensory system in detecting multidirectional forces and...
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| Format: | Article |
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Nature Portfolio
2025-07-01
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| Series: | Nature Communications |
| Online Access: | https://doi.org/10.1038/s41467-025-61843-6 |
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| author | Vashin Gautham Ashutosh Panpalia Hamid Manouchehri Krushang Khimjibhai Gabani Vinoop Anil Shakunthala Yerneni Rohit Thakar Aayush Nayyar Mandar Anil Payare Emily Jorgensen Ruizhe Yang Ehsan Esfahani Jun Liu |
| author_facet | Vashin Gautham Ashutosh Panpalia Hamid Manouchehri Krushang Khimjibhai Gabani Vinoop Anil Shakunthala Yerneni Rohit Thakar Aayush Nayyar Mandar Anil Payare Emily Jorgensen Ruizhe Yang Ehsan Esfahani Jun Liu |
| author_sort | Vashin Gautham |
| collection | DOAJ |
| description | Abstract Dexterous manipulation in robotics requires coordinated sensing, signal processing, and actuation for real-time, precise object control. Despite advances, the current artificial tactile sensory system lacks the proficiency of the human sensory system in detecting multidirectional forces and multimodal stimuli. To address this limitation, we present a bio-inspired “slip-actuated” tactile sensing system, incorporating dynamic direct-current generator into stretchable electronic textile. This self-powered bionic tactile sensing system operates in conjunction with a normal force sensor, paralleling the functions of human rapid-adapting and slow-adapting mechanoreceptors, respectively. Furthermore, we tailor and integrate the bionic tactile sensing system with robotic fingers, creating a bionic design that mimics human skin and skeleton with mechanoreceptors. By embedding this system into the feedback loop of robotic fingers, we are able to achieve fast slip and grasp monitoring, as well as effective object manipulation. Moreover, we perform quantitative analysis based on Hertzian contact mechanics to fundamentally understand the dependency of output on force and velocity in our sensor system. The results of this work provide an artificial tactile sensing mechanism for AI-driven smart robotics with human-inspired tactile sensing capabilities for future manufacturing, healthcare, and human-machine interaction. |
| format | Article |
| id | doaj-art-76f93ce0df19428ebd7609f281f955c3 |
| institution | DOAJ |
| issn | 2041-1723 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Nature Communications |
| spelling | doaj-art-76f93ce0df19428ebd7609f281f955c32025-08-20T03:05:14ZengNature PortfolioNature Communications2041-17232025-07-0116111310.1038/s41467-025-61843-6Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulationVashin Gautham0Ashutosh Panpalia1Hamid Manouchehri2Krushang Khimjibhai Gabani3Vinoop Anil4Shakunthala Yerneni5Rohit Thakar6Aayush Nayyar7Mandar Anil Payare8Emily Jorgensen9Ruizhe Yang10Ehsan Esfahani11Jun Liu12Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkPritzker School of Molecular Engineering, The University of ChicagoDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkDepartment of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New YorkAbstract Dexterous manipulation in robotics requires coordinated sensing, signal processing, and actuation for real-time, precise object control. Despite advances, the current artificial tactile sensory system lacks the proficiency of the human sensory system in detecting multidirectional forces and multimodal stimuli. To address this limitation, we present a bio-inspired “slip-actuated” tactile sensing system, incorporating dynamic direct-current generator into stretchable electronic textile. This self-powered bionic tactile sensing system operates in conjunction with a normal force sensor, paralleling the functions of human rapid-adapting and slow-adapting mechanoreceptors, respectively. Furthermore, we tailor and integrate the bionic tactile sensing system with robotic fingers, creating a bionic design that mimics human skin and skeleton with mechanoreceptors. By embedding this system into the feedback loop of robotic fingers, we are able to achieve fast slip and grasp monitoring, as well as effective object manipulation. Moreover, we perform quantitative analysis based on Hertzian contact mechanics to fundamentally understand the dependency of output on force and velocity in our sensor system. The results of this work provide an artificial tactile sensing mechanism for AI-driven smart robotics with human-inspired tactile sensing capabilities for future manufacturing, healthcare, and human-machine interaction.https://doi.org/10.1038/s41467-025-61843-6 |
| spellingShingle | Vashin Gautham Ashutosh Panpalia Hamid Manouchehri Krushang Khimjibhai Gabani Vinoop Anil Shakunthala Yerneni Rohit Thakar Aayush Nayyar Mandar Anil Payare Emily Jorgensen Ruizhe Yang Ehsan Esfahani Jun Liu Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation Nature Communications |
| title | Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation |
| title_full | Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation |
| title_fullStr | Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation |
| title_full_unstemmed | Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation |
| title_short | Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation |
| title_sort | slip actuated bionic tactile sensing system with dynamic dc generator integrated e textile for dexterous robotic manipulation |
| url | https://doi.org/10.1038/s41467-025-61843-6 |
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