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<p>Reducing the dependency on external energy sources for the gait recognition system of legged robots and providing them with higher endurance in field transport or emergency rescue has attracted much attention. Here, inspired by the tilted microstructures on the surface of mantis forelimbs, a performance-enhanced triboelectric sensor with a tilted magnetic microneedle surface (TMMS-TENG) is proposed to provide self-powered motion sensing and gait recognition for legged robots. By combining magnetorheological materials with micro-engineering technology, the tilting and bending of the microneedles on the surface of the triboelectric layer are controlled in alignment with the direction and intensity parameters of the magnetic field, thereby significantly influencing the sensing signal. The TMMS-TENG has achieved a peak output power of 5.82 mW with a load resistance of 3 MΩ, and also has the advantages of high sensitivity (7.57 kPa<sup>−1</sup>, 0 to 1 kPa, 3.55 times higher than that of the triboelectric sensor with planar structure), fast response, and high stability. It demonstrates outstanding recognition capability and excellent stability in legged robot gait recognition systems, with potential prospects in the fields of robotics, intelligent manufacturing, and health monitoring.</p>

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Bio-inspired triboelectric nanogenerator as a self-powered gait recognition sensor for legged robots

  • 期刊论文

  • 发表日期：

    2025年4月1日

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  • Ruixue Sun,
  • Pengfan Wu,
  • Pei Li,
  • Jianchun Jiang,
  • Mengjie Shou,
  • Qiao Chen,
  • Pingan Yang,
  • Fayang Wang,
  • Changrong Liao

摘要

Reducing the dependency on external energy sources for the gait recognition system of legged robots and providing them with higher endurance in field transport or emergency rescue has attracted much attention. Here, inspired by the tilted microstructures on the surface of mantis forelimbs, a performance-enhanced triboelectric sensor with a tilted magnetic microneedle surface (TMMS-TENG) is proposed to provide self-powered motion sensing and gait recognition for legged robots. By combining magnetorheological materials with micro-engineering technology, the tilting and bending of the microneedles on the surface of the triboelectric layer are controlled in alignment with the direction and intensity parameters of the magnetic field, thereby significantly influencing the sensing signal. The TMMS-TENG has achieved a peak output power of 5.82 mW with a load resistance of 3 MΩ, and also has the advantages of high sensitivity (7.57 kPa−1, 0 to 1 kPa, 3.55 times higher than that of the triboelectric sensor with planar structure), fast response, and high stability. It demonstrates outstanding recognition capability and excellent stability in legged robot gait recognition systems, with potential prospects in the fields of robotics, intelligent manufacturing, and health monitoring.