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. 2021 Feb 4;11:3054. doi: 10.1038/s41598-021-82549-x

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© The Author(s) 2021

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fractional order domain and the proposed prototype. (A) The integral of step function throughout different fractional orders. (B) The proposed work is based on three main pillars; Biological impedance of tissues, hyper elastic materials and oscillators. These pillars are common for their realization in the context of the fractional order domain, and upon them our proposed prototype is based. Adding channels beneath a soft E-skin or embedded inside a soft pneumatic actuator which are filled by biological soft tissues can augment tactile sensing capability based on changes of the tissues bioimpedance.