Finger-inspired rigid-soft hybrid tactile sensor with superior sensitivity at high frequency

Jinhui Zhang, Haimin Yao, Jiaying Mo, Songyue Chen, Yu Xie, Shenglin Ma, Rui Chen, Tao Luo, Weisong Ling, Lifeng Qin, Zuankai Wang, Wei Zhou

Research output: Journal article publicationJournal articleAcademic researchpeer-review

85 Citations (Scopus)


Among kinds of flexible tactile sensors, piezoelectric tactile sensor has the advantage of fast response for dynamic force detection. However, it suffers from low sensitivity at high-frequency dynamic stimuli. Here, inspired by finger structure—rigid skeleton embedded in muscle, we report a piezoelectric tactile sensor using a rigid-soft hybrid force-transmission-layer in combination with a soft bottom substrate, which not only greatly enhances the force transmission, but also triggers a significantly magnified effect in d31 working mode of the piezoelectric sensory layer, instead of conventional d33 mode. Experiments show that this sensor exhibits a super-high sensitivity of 346.5 pC N−1 (@ 30 Hz), wide bandwidth of 5–600 Hz and a linear force detection range of 0.009–4.3 N, which is ~17 times the theoretical sensitivity of d33 mode. Furthermore, the sensor is able to detect multiple force directions with high reliability, and shows great potential in robotic dynamic tactile sensing.

Original languageEnglish
Article number5076
JournalNature Communications
Issue number1
Publication statusPublished - Dec 2022

ASJC Scopus subject areas

  • General Chemistry
  • General Biochemistry,Genetics and Molecular Biology
  • General
  • General Physics and Astronomy


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