Shear-Pressure Decoupling and Accurate Perception of Shear Directions in Ionic Sensors by Analyzing the Frequency-Dependent Ionic Behavior

In artificial tactile sensing, to emulate the human sense
of touch,
independent perception of shear force and pressure is important. Decoupling
the pressure and shear force is a challenging task for ensuring stable
grasping manipulation for both soft and brittle objects. This study
introduces a deformable ion gel-based tactile sensor that is capable
of distinguishing pressure from shear force when pressurized shear
force is applied in any direction. Recognition of the decoupled forces
and precise shear directions is enabled by acquiring tactile data
at only two frequencies (20 Hz and 10 kHz) based on the frequency-dependent
ion dynamics. This study demonstrates monitoring the changes in pressure,
shear force, and shear directions while performing practical robotic
actions, such as pouring a water bottle, opening a water bottle cap,
and picking up a book and placing it on a shelf.