Shear-Pressure Decoupling and Accurate Perception of Shear Directions in Ionic Sensors by Analyzing the Frequency-Dependent Ionic Behavior

摘要

In artificial tactile sensing, to emulate the human sense of touch, independent perception of shear force and pressure is important. Decoupling the pressure and shear force is a challenging task for ensuring stable grasping manipulation for both soft and brittle objects. This study introduces a deformable ion gel-based tactile sensor that is capable of distinguishing pressure from shear force when pressurized shear force is applied in any direction. Recognition of the decoupled forces and precise shear directions is enabled by acquiring tactile data at only two frequencies (20 Hz and 10 kHz) based on the frequency-dependent ion dynamics. This study demonstrates monitoring the changes in pressure, shear force, and shear directions while performing practical robotic actions, such as pouring a water bottle, opening a water bottle cap, and picking up a book and placing it on a shelf.