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Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation

Author

Listed:
  • Vashin Gautham

    (The State University of New York
    The State University of New York)

  • Ashutosh Panpalia

    (The State University of New York
    The State University of New York)

  • Hamid Manouchehri

    (The State University of New York)

  • Krushang Khimjibhai Gabani

    (The State University of New York)

  • Vinoop Anil

    (The State University of New York
    The State University of New York)

  • Shakunthala Yerneni

    (The State University of New York
    The State University of New York)

  • Rohit Thakar

    (The State University of New York
    The State University of New York)

  • Aayush Nayyar

    (The State University of New York
    The State University of New York)

  • Mandar Anil Payare

    (The State University of New York
    The State University of New York)

  • Emily Jorgensen

    (The State University of New York
    The State University of New York)

  • Ruizhe Yang

    (The University of Chicago)

  • Ehsan Esfahani

    (The State University of New York)

  • Jun Liu

    (The State University of New York
    The State University of New York)

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.

Suggested Citation

  • Vashin Gautham & Ashutosh Panpalia & Hamid Manouchehri & Krushang Khimjibhai Gabani & Vinoop Anil & Shakunthala Yerneni & Rohit Thakar & Aayush Nayyar & Mandar Anil Payare & Emily Jorgensen & Ruizhe Y, 2025. "Slip-actuated bionic tactile sensing system with dynamic DC generator integrated E-textile for dexterous robotic manipulation," Nature Communications, Nature, vol. 16(1), pages 1-13, December.
    • Handle: RePEc:nat:natcom:v:16:y:2025:i:1:d:10.1038_s41467-025-61843-6
    DOI: 10.1038/s41467-025-61843-6
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    References listed on IDEAS

    as
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