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Identification of Object Roughness Using a Flexible Capacitive 3D Force Transducer Featuring an Interlocking Microstructure
Preview AbstractA flexible capacitive three-dimensional (3D) force transducer with four bottom electrodes is proposed. A dielectric layer with ionic effects and pyramid-like microstructures is designed to improve the sensing performance of this sensor. The arrayed sensor exhibits remarkable capabilities in capturing and decoupling 3D forces, showcasing a high sensitivity, a wide response range (0–30kPa), rapid response time (62ms), excellent repeatability under continuous pressure, as well as static and dynamic responses. By assembling a robotic arm to grasp various objects, the sensor demonstrates exceptional sensing capabilities for object roughness, thereby highlighting its potential application as a touch recognition system in human–computer interaction scenarios.