A Flexible Multi‐Modal Tactile Sensor Enabling Decoupled Pressure–Temperature–Proximity Perception for Closed‐Loop Robotic Contact Control

ABSTRACT

Advancing tactile perception beyond simple pressure detection toward multi‐modal, closed‑loop sensing is pivotal for achieving intelligent and safe robotic interaction in unstructured environments. Here, a high‑performance flexible tactile sensor is reported that enables real‑time, decoupled perception of pressure, temperature, and proximity within a single capacitive unit. By engineering an Ecoflex/MWCNTs composite dielectric with tailored permittivity and micro‐structured geometry, the sensor exhibits enhanced electromechanical coupling and distinct response characteristics, achieving a pressure sensitivity of  1.49  kPa ⁻¹ , a temperature coefficient of −0.015°C ⁻¹ , and a proximity sensitivity of  0.19  cm ⁻¹ . The device delivers a rapid response time of  39  ms and low hysteresis (3.17 %), supporting stable long‑term operation. A co‑located 3 × 3  sensor array further achieves spatial mapping of pressure and temperature distributions and, when combined with deep‑learning analysis, enables accurate object recognition with an accuracy rate of  99.5 %. Integrated into a closed‑loop tactile control system for dexterous robotic hands, the platform realizes adaptive grasping, over‑temperature protection, and dynamic obstacle avoidance driven by multi‐modal feedback. This work establishes a comprehensive materials‑to‑systems strategy bridging high‑resolution tactile perception and intelligent actuation, paving the way for next‑generation robotic manipulation and skin‑like human–machine interaction.