Microfinger robot with inhaling channels for active sampling and analyzing gaseous and liquid substances toward source localization

Conventional humanoid technology has primarily focused on human tactile senses such as force and temperature. Previously, we introduced a microfinger robot integrated with force and temperature sensors for active sensing. In addition to sensors for mimicking human senses, artificial fingers can be functionalized with various sensors. This study proposes microfinger robot which is integrated with inhaling channels for actively sampling and analyzing gaseous and liquid substances. The microfinger can be even combined with an external advanced analyzer for analyzing samples. The microfinger (12 mm × 3 mm × 550 μm) incorporates pneumatic balloon actuators for upward and downward bending together with a strain sensor for detecting its motion. Inhaling microchannels, inspired by an elephant trunk, enable sample collection from an inlet at the microfinger tip. The active sensing performance is comprehensively examined, demonstrating that the microfinger can effectively search spatial distribution of samples diffused from chemical sources. Ethanol and colorant are used as gaseous and liquid source, respectively. The proposed smart microfinger, functionalized with sampling channels for active sensing beyond conventional sensor integration, offers a promising platform for advanced exploration and analysis of complex targets in microscale environments.