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This characteristic enables its sensitivity to both stimulus location and velocity. However, existing robotic tactile sensors lag behind human tactile perception, failing to achieve high spatial resolution and rapid response simultaneously. This significantly hinders robots from executing accurate, time\u2010sensitive interaction tasks, particularly during dynamic slight\u2010contact events. Here, a 130\u2009\u03bcm\u2010thick flexible tactile sensor array is designed, with spatial resolution enhanced by a tailored deep learning model, multistage attention\u2010based adaptive spatial\u2013temporal graph convolutional networks\u00a0(MS\u2010AASTGCN), simultaneously achieving a dynamic response of \u224830\u2009ms and a super\u2010resolution factor of 75.19. The tactile sensor array, based on single\u2010electrode triboelectric nanogenerators, can detect dynamic subtle stimuli. It features a bio\u2010inspired topological structure, facilitating super\u2010resolution performance while offering a large perception area with low sensor (taxel) density. Additionally, the MS\u2010AASTGCN enhances positioning resolution by extracting features fromsensing data and revealing the hidden relationships among taxels. This research provides new insights into haptic perception systems, enabling the execution of precise, time\u2010sensitive interaction tasks, such as tracking a bouncing table tennis ball.<\/jats:p>","DOI":"10.1002\/aisy.202400913","type":"journal-article","created":{"date-parts":[[2025,2,2]],"date-time":"2025-02-02T19:15:36Z","timestamp":1738523736000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Unlocking Dynamic Subtle Stimuli Tactile Perception: A Deep Learning\u2010Enhanced Super\u2010Resolution Tactile Sensor Array with Rapid Response"],"prefix":"10.1002","volume":"7","author":[{"given":"Shuyao","family":"Zhou","sequence":"first","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310030 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Depeng","family":"Kong","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310030 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mengke","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310030 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Baocheng","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310030 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuyao","family":"Lu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310030 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Honghao","family":"Lyu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310030 China"},{"name":"Zhejiang Key Laboratory of Intelligent Robot for Operation and Maintenance  Hangzhou 310030 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhangli","family":"Lu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310030 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong","family":"Tao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering &amp; 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