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<p>Current flexible tactile sensors mainly focus on normal-pressure detection, while reliable sensing of directional tangential loads remains comparatively less explored, particularly for object manipulation in intelligent robotic systems. Inspired by the ability of human fingers to perceive directional tangential mechanical stimuli during contact, we developed a spiral-structured flexible biomimetic capacitive sensor using a laser-etching-assisted fabrication strategy. The spiral electrode architecture provides comparable capacitive responses to tangential loading from representative in-plane directions. Angular response tests at 0°, 45°, 90°, and 135° on both sensor faces showed comparable sensitivities in the low-force regime, with directional anisotropy values of 6.75% and 1.90% for the front and back sides, respectively. These results indicate reduced directional bias over the tested representative in-plane directions, although the single-channel device is not intended to resolve the exact in-plane force angle. In the tested range, the device exhibited a tangential-force sensitivity of 0.107 N<sup>−1</sup> in the low-force regime, a detection range of 0.1–10 N, response/recovery times of approximately 50&#xa0;ms, and stable operation over 5,000 loading cycles. These results suggest potential applications in wearable tactile interfaces, robotic manipulation, and proof-of-concept electronic-skin systems.</p>

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Fingerprint-inspired flexible capacitive sensor with reduced directional bias for tangential-force response via laser-etched geometry

  • 期刊论文

  • 发表日期：

    2026年7月29日

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  • Zhaohui Chen,
  • Han Zhang,
  • You Feng,
  • Zhilong Shi,
  • Junjun Li,
  • Zhao Le

摘要

Current flexible tactile sensors mainly focus on normal-pressure detection, while reliable sensing of directional tangential loads remains comparatively less explored, particularly for object manipulation in intelligent robotic systems. Inspired by the ability of human fingers to perceive directional tangential mechanical stimuli during contact, we developed a spiral-structured flexible biomimetic capacitive sensor using a laser-etching-assisted fabrication strategy. The spiral electrode architecture provides comparable capacitive responses to tangential loading from representative in-plane directions. Angular response tests at 0°, 45°, 90°, and 135° on both sensor faces showed comparable sensitivities in the low-force regime, with directional anisotropy values of 6.75% and 1.90% for the front and back sides, respectively. These results indicate reduced directional bias over the tested representative in-plane directions, although the single-channel device is not intended to resolve the exact in-plane force angle. In the tested range, the device exhibited a tangential-force sensitivity of 0.107 N−1 in the low-force regime, a detection range of 0.1–10 N, response/recovery times of approximately 50 ms, and stable operation over 5,000 loading cycles. These results suggest potential applications in wearable tactile interfaces, robotic manipulation, and proof-of-concept electronic-skin systems.