Study of Fingerprint-Like Tactile Sensors Based on Triboelectric Nanogenerator

At present, the tasks of robots are becoming increasingly diverse, and higher requirements have been put forward for the perception system of robots. Among them, tactile sensing is an indispensable part of the robot perception system. Therefore, it is necessary to design tactile sensors that are sensitive to the surface features of the object being grasped. This paper proposes a tactile sensor based on the theory of triboelectric nanogenerators. The sensor surface adopts a fingerprint like structure and can output different voltage signals by sliding on the surface of the object. The experimental results show that FP-TENG can provide different voltage signals when in contact with objects with different materials and surface structures. When this sensor is applied to detect rust, there is a significant difference in voltage signals when in contact with metals with different degrees of rust, providing a new research direction for tactile sensing in robotic hands.