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<p>Vision-based robotic triaxial tactile sensing provides superior spatial resolution and rich multimodal data. However, employing rigid CMOS imagers suffers from limitations in mechanical flexibility and large-area scalability. Here we present a large-area ultraflexible photoelectrical impedance tomography (PIT)-based imager that achieves high-fidelity triaxial tactile sensing. The 5-μm-thick PIT imager incorporates a quantum dots/metal-oxide heterojunction layer with 16 peripheral electrodes, significantly reducing interconnects complexity (pixel-to-interconnect ratio &gt;80). The device exhibits a photo-to-dark-current ratio exceeding 10⁴ under ultraviolet illumination, resolves spatiotemporal features as fine as 1.5 mm, and can simultaneously image up to five occluded regions. By&#xa0;integrating a thin&#xa0;light-scattering porous rubber and flexible&#xa0;LEDs, triaxial force decoding is achieved through Gaussian photocurrent analysis.&#xa0;The system&#xa0;achieves&#xa0;over a dynamic range of 80 kPa with a normal force sensitivity of 0.04 kPa⁻¹, a shear displacement resolution of 0.17 μm kPa⁻¹, and a topological recognition accuracy of 96.5%. We anticipate that this technology will enable advanced applications in industrial and humanoid robotics, medical and rehabilitation robotics, and wearable health monitoring and human–machine interaction systems.</p>

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Ultraflexible photoelectrical impedance tomography-based imager for 3-axis robotic tactile sensing

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2026年3月14日

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  • Kun Qiao,
  • Xuyang Feng,
  • Linyu Dong,
  • Limei Liu,
  • Qing Ma,
  • Dechun Zhao,
  • Shang Lu,
  • Haoyang Wang,
  • Cunjiang Yu,
  • Lijia Pan,
  • Binghao Wang

摘要

Vision-based robotic triaxial tactile sensing provides superior spatial resolution and rich multimodal data. However, employing rigid CMOS imagers suffers from limitations in mechanical flexibility and large-area scalability. Here we present a large-area ultraflexible photoelectrical impedance tomography (PIT)-based imager that achieves high-fidelity triaxial tactile sensing. The 5-μm-thick PIT imager incorporates a quantum dots/metal-oxide heterojunction layer with 16 peripheral electrodes, significantly reducing interconnects complexity (pixel-to-interconnect ratio >80). The device exhibits a photo-to-dark-current ratio exceeding 10⁴ under ultraviolet illumination, resolves spatiotemporal features as fine as 1.5 mm, and can simultaneously image up to five occluded regions. By integrating a thin light-scattering porous rubber and flexible LEDs, triaxial force decoding is achieved through Gaussian photocurrent analysis. The system achieves over a dynamic range of 80 kPa with a normal force sensitivity of 0.04 kPa⁻¹, a shear displacement resolution of 0.17 μm kPa⁻¹, and a topological recognition accuracy of 96.5%. We anticipate that this technology will enable advanced applications in industrial and humanoid robotics, medical and rehabilitation robotics, and wearable health monitoring and human–machine interaction systems.