Wide‐range Stretchable Modulus Sensor Based on PSSS Architecture for Tactile Perception

ABSTRACT Stretchable tactile sensors play a central role in biomimetic electronic skin, enabling advanced capabilities for human‐machine interaction. Among various sensing modalities, modulus detection plays a pivotal role in replicating human‐like tactile perception. However, existing stretchable modulus sensors are limited by narrow modulus ranges, trade‐offs between sensitivity and dynamic range, challenges in decoupling pressure and deformation signals, and a lack of scalable fabrication strategies for reliable array‐level integration and spatial modulus mapping. In this study, we propose an integrated structural and fabrication approach for stretchable tactile sensor arrays based on pressure‐support‐strain stacking (PSSS) architecture. This design enables precise spatial mapping of material modulus through the synergistic coupling of pressure and strain signals. The resulting biomimetic electronic skin exhibits high sensitivity across an ultra‐wide modulus detection range from 27.7 to 2257.6 kPa. As a demonstration, the sensor array was fabricated using the proposed method and integrated into a robotic manipulator, enabling the spatial mapping of surface decay regions on fruit. Combined with a deep learning algorithm for processing multimodal tactile data, the system achieves near‐perfect accuracy in identifying fruit classification. The study offers a novel and scalable solution for high‐precision tactile sensing in robotics, with broad implications for intelligent perception systems.