Capacitive flexible haptic sensor based on micro-cylindrical structure dielectric layer and its decoupling study

With the advancement of robotics, flexible sensors have undergone significant development. Extensive research has been conducted on the sensor structure to enhance its sensing capabilities. However, due to the absence of a definitive theory on the relationship between input force and output signal, and the unclear mechanism of force and deformation, decoupling the force remains challenging. To address this, we propose a capacitive flexible tactile sensor that utilizes a dielectric layer with a microcylindrical structure for detecting external loads. The micro-cylindrical structure of the dielectric layer enhances the strain capacity, thereby improving the sensor's performance. We also present a decoupling model based on the deformation mechanism by analyzing the sensor coupling. Furthermore, we validate the sensor's application in tangential detection and object grasping by integrating it into a soft rehabilitation glove and a soft gripper. This research lays the foundation for future self-aware operations.