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The tactile sensing capabilities of human hands are essential in daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands allow us humans to achieve daily tasks like grasping delicate objects. In this paper, we design and fabricate a biomimetic tactile sensor with skin-like heterogeneity that perceives normal and shear contact forces simultaneously. It mimics the multilayered structure of mechanoreceptors in human skin by combining an extrinsic layer (piezoresistive sensors) and an intrinsic layer (a Hall sensor) so that it can perform estimation of contact force directions, locations, and joint-level torque. By integrating our sensors, a robotic gripper can obtain contact force feedback at the fingertips; accordingly, robots can perform challenging tasks, such as using tweezers and grasping eggs. This insightful sensor design can be customized and applied in different areas of robotics and provide them with heterogeneous force sensing, potentially supporting robotics in acquiring skin-like tactile feedback.

GTac: A Biomimetic Tactile Sensor With Skin-Like Heterogeneous Force Feedback for Robots