Fig. 6. Robotic hand-sensor integration and multiplex sensing arrays.

a Schematic illustration for the robotic gripper integrated with a CSN ionogel-based EDL capacitive sensor. b Variation of capacitive signal during robotic hand holding a metal block (weight: 62.58 g) at 25, 150, and −30 °C. c Photograph of robotic hand integrated with a sensor array consisting of five CSN ionogel-based EDL capacitive sensors. Scale bar: 1 cm. d–f Real-time multichannel capacitance signals of the pressure sensors mounted on a robotic hand, corresponding to the operations of grabbing and releasing of a toy duck (d), a centrifuge tube filled with water (e), and a table tennis ball (f). g Schematic illustrations of the multiplex pressure sensor array. h Photograph showing the multiplex pressure sensor array with 4 × 4 sensing pixels. Scale bar: 10 mm. i Illustration of the top view of an integrated 4 × 4 sensor array loaded with a plastic block and two screws. j Corresponding signal mapping of (i). k–n Demonstration of the pressure sensor array’s capability of recognizing contact patterns by placing two blocks with different bottom-side patterns onto the pressure sensor array. Scale bar: 10 mm. o Photograph showing multiplex pressure sensor array with 4 × 4 sensing pixels attached onto a glove. Scale bar: 20 mm. p, q The pressure distribution of a multiplex pressure sensor array on the glove, corresponding to grabbing of a bottle (p) and a table tennis ball (q). Scale bar: 20 mm.