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

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 (e.g., static strain vs. dynamic motion). To address this limitation, we present a bio-inspired “slip-actuated” tactile sensing system, incorporating novel dynamic direct-current (DC) generator into stretchable electronic textile (E-Textile). This self-powered Bionic Textile Sensing (BTS) system operates in conjunction with a normal force sensor, paralleling the functions of the rapid-adapting (RA) and slow-adapting (SA) mechanoreceptors (MR) in the human sensory system, respectively. Furthermore, we tailor and integrate the BTS system with a polymer encapsulated 3D-printed structured finger, 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 real-time slip and grasp monitoring, as well as the subsequent object manipulation. Moreover, we perform quantitative analysis based on Hertzian contact mechanics to fundamentally understand the dependency of DC output on force and velocity in the BTS. The promising results of this work provide a new mechanism for artificial tactile sensing, paving the way for AI-driven smart robotics with human-inspired tactile sensing capabilities for future manufacturing, healthcare, and human-machine interaction.