Flexible sliding sensor for simultaneous monitoring deformation and displacement on a robotic hand/arm

Clamping manipulators known as end effectors, are applied to achieve the gripping function of objects basically and to overcome the inconvenience and hard work for human hands. Among them, the development of flexible manipulators has received wide attention. However, the existing gripper processes confine the gripping manner, and grasped objects may slide due to the insufficient friction force. Here, we demonstrate a multifunctional and integrated sliding sensor to provide a flexible sensing scheme for soft robotic manipulators to achieve high sensitivity and intelligent recognition. The sensing device combines a capacitive sensor with a triboelectric nanogenerator (TENG) based sensor, to provide possible approaches to control gripping and avoid unexpected slipping and damage, during the flexible gripping process.