Micropyramid Array Bimodal Electronic Skin for Intelligent Material and Surface Shape Perception Based on Capacitive Sensing

Developing electronic skins (e-skins) that are comparable to or even beyond human tactile perception holds significant importance in advancing the process of intellectualization. In this context, a machine-learning-motivated micropyramid array bimodal (MAB) e-skin based on capacitive sensing is reported, which enables spatial mapping applications based on bimodal sensing (proximity and pressure) implemented via fringing and iontronic effects, such as contactless measurement of 3D objects and contact recognition of Braille letters. Benefiting from the iontronic effect and single-micropyramid structure, the MAB e-skin in pressure mode yields impressive features: a maximum sensitivity of 655.3 kPa-1 (below 0.5 kPa), a linear sensitivity of 327.9 kPa-1 (0.5-15 kPa), and an ultralow limit of detection of 0.2 Pa. With the assistance of multilayer perceptron and convolutional neural network, the MAB e-skin can accurately perceive 6 materials and 10 surface shapes based on the training and learning using the collected datasets from proximity and pressure modes, thus allowing it to achieve the precise perception of different objects within one proximity-pressure cycle. The development of this MAB e-skin opens a new avenue for robotic skin and the expansion of advanced applications.