Identification of object roughness using a flexible capacitive 3D force transducer featuring an interlocking microstructure

A flexible capacitive three-dimensional (3D) force transducer with four bottom electrodes is proposed. A dielectric layer with ionic effects and pyramid-like microstructures is designed to improve the sensing performance of this sensor. The arrayed sensor exhibits remarkable capabilities in capturing and decoupling 3D forces, showcasing a high sensitivity, a wide response range (0–30[Formula: see text]kPa), rapid response time (62[Formula: see text]ms), excellent repeatability under continuous pressure, as well as static and dynamic responses. By assembling a robotic arm to grasp various objects, the sensor demonstrates exceptional sensing capabilities for object roughness, thereby highlighting its potential application as a touch recognition system in human–computer interaction scenarios.