{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,23]],"date-time":"2026-10-23T19:44:22Z","timestamp":1792784662308,"version":"4.5.0"},"reference-count":36,"publisher":"American Chemical Society (ACS)","issue":"38","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-045"}],"funder":[{"DOI":"10.13039\/501100002338","name":"Ministry of Education of the People's Republic of China","doi-asserted-by":"publisher","award":["OEIAM202506"],"award-info":[{"award-number":["OEIAM202506"]}],"id":[{"id":"10.13039\/501100002338","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["PA2025IISL0103"],"award-info":[{"award-number":["PA2025IISL0103"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Anhui Engineering Research Center","award":["FYKFKT24055"],"award-info":[{"award-number":["FYKFKT24055"]}]},{"name":"National Natural Science Foundation of China (NSFC)","award":["52405518"],"award-info":[{"award-number":["52405518"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"crossref"}]},{"name":"National Natural Science Foundation of China (NSFC)","award":["62375073"],"award-info":[{"award-number":["62375073"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026,9,30]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>High-precision sensing of interfacial motion has attracted great attention due to its vital role in intelligent microrobotics. However, it is still challenging to develop flexible sensors capable of both multiscenario detection and motion mode identification. Here, we report a flexible magnetic tactile sensor (FMTS) that mimics the hierarchical microsetae of Porthesia similis larvae in nature. When the hierarchical hair array is bent under force, the Hall component detects the tiny changes in the magnetic field due to the rearrangement of internal NdFeB microparticles. The FMTS reaches a maximum sensitivity of 22.02 \u03bcT\/mN, a high resolution of 0.1 mN, and a linear working range of 0 to 46.26 mN. Diverse multiscenario perceptions are demonstrated, including solid morphology recognition, liquid flow velocity measurement, biological signal monitoring, identification of relative motion mode (e.g., rotation or slippage), and real-time motion monitoring of the grasped objects. This framework advances multiscenario perception in robotic interactions.<\/jats:p>","DOI":"10.1021\/acs.nanolett.6c02453","type":"journal-article","created":{"date-parts":[[2026,9,3]],"date-time":"2026-09-03T09:57:16Z","timestamp":1788429436000},"page":"12693-12701","source":"Crossref","is-referenced-by-count":0,"title":["Bioinspired\nFlexible Tactile Sensor with Hierarchical\nMicrohair Array for Multiscenario Perception"],"prefix":"10.1021","volume":"26","author":[{"given":"Sizhu","family":"Wu","sequence":"first","affiliation":[{"name":"Hefei University of Technology , , ,","place":["Hefei, P. R. China, 230009"]},{"name":"Hefei University of Technology , , ,","place":["Hefei, P. R. China, 230009"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shijie","family":"Liao","sequence":"additional","affiliation":[{"name":"Hefei University of Technology , , ,","place":["Hefei, P. R. China, 230009"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yiyuan","family":"Wang","sequence":"additional","affiliation":[{"name":"Hefei University of Technology , , ,","place":["Hefei, P. R. China, 230009"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-3397-3979","authenticated-orcid":true,"given":"Suwan","family":"Zhu","sequence":"additional","affiliation":[{"name":"Hefei University of Technology , , ,","place":["Hefei, P. R. China, 230601"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7673-0590","authenticated-orcid":true,"given":"Zhaoxin","family":"Lao","sequence":"additional","affiliation":[{"name":"Hefei University of Technology , , ,","place":["Hefei, P. R. China, 230009"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"316","published-online":{"date-parts":[[2026,9,1]]},"reference":[{"issue":"19","key":"2026093009103497400_cit1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202414096","article-title":"Multimodal Finger-Shaped Tactile Sensor for Multi-Directional\nForce and Material Identification","volume":"37","author":"Han","year":"2025","journal-title":"Adv. Mater."},{"issue":"3","key":"2026093009103497400_cit2","doi-asserted-by":"publisher","first-page":"4568","DOI":"10.1021\/acsami.5c16200","article-title":"Bioinspired Flexible\nTactile Sensors\nfor Smart Soft Robotics","volume":"18","author":"Wang","year":"2026","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"2026093009103497400_cit3","doi-asserted-by":"publisher","first-page":"102792","DOI":"10.1016\/j.rcim.2024.102792","article-title":"A Comprehensive\nReview of Robot Intelligent Grasping Based on Tactile Perception","volume":"90","author":"Li","year":"2024","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"52","key":"2026093009103497400_cit4","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202410661","article-title":"A Battery-Free\nWireless Tactile Sensor\nfor Multimodal Force Perception","volume":"34","author":"Gu","year":"2024","journal-title":"Adv. Funct.\nMater."},{"key":"2026093009103497400_cit5","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202514750","article-title":"Neuromorphic Tactile\nPerception Enabled by Triboelectric Artificial Synapse for Material\nIdentification","volume":"36","author":"Li","year":"2026","journal-title":"Adv. Funct. Mater."},{"key":"2026093009103497400_cit6","doi-asserted-by":"publisher","first-page":"107845","DOI":"10.1016\/j.nanoen.2022.107845","article-title":"A Triboelectric Multifunctional\nSensor Based on the Controlled Buckling Structure for Motion Monitoring\nand Bionic Tactile of Soft Robots","volume":"104","author":"Xu","year":"2022","journal-title":"Nano Energy"},{"issue":"6","key":"2026093009103497400_cit7","doi-asserted-by":"publisher","first-page":"9238","DOI":"10.1021\/acsnano.1c03408","article-title":"Sensation and Perception\nof a Bioinspired Flexible Smart Sensor System","volume":"15","author":"Zeng","year":"2021","journal-title":"ACS Nano"},{"issue":"48","key":"2026093009103497400_cit8","doi-asserted-by":"publisher","DOI":"10.1002\/smll.202511475","article-title":"Flexible Tactile Sensors: Materials, Mechanisms,\nStructures, and Multifaceted Applications","volume":"21","author":"Wan","year":"2025","journal-title":"Small"},{"key":"2026093009103497400_cit9","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1016\/j.nanoen.2017.08.001","article-title":"Fingertip-Inspired\nElectronic Skin Based on Triboelectric Sliding Sensing and Porous\nPiezoresistive Pressure Detection","volume":"40","author":"Chen","year":"2017","journal-title":"Nano Energy"},{"issue":"8","key":"2026093009103497400_cit10","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202413141","article-title":"Advanced Morphological\nand Material\nEngineering for High-Performance Interfacial Iontronic Pressure Sensors","volume":"12","author":"Zhuo","year":"2025","journal-title":"Advanced Science"},{"issue":"1","key":"2026093009103497400_cit11","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-38274-2","article-title":"Iontronic Pressure Sensor with\nHigh Sensitivity over Ultra-Broad Linear Range Enabled by Laser-Induced\nGradient Micro-Pyramids","volume":"14","author":"Yang","year":"2023","journal-title":"Nat. Commun."},{"key":"2026093009103497400_cit12","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202532112","article-title":"Additive-Manufacturing-Based\nFlexible Tactile Sensors","volume":"36","author":"Gao","year":"2026","journal-title":"Adv. Funct. Mater."},{"issue":"13","key":"2026093009103497400_cit13","doi-asserted-by":"publisher","first-page":"15626","DOI":"10.1021\/acsanm.4c02631","article-title":"Bioinspired Low Hysteresis Flexible Pressure\nSensor Using Nanocomposites\nof Multiwalled Carbon Nanotubes, Silicone Rubber, and Carbon Nanofiber\nfor Human\u2013Computer Interaction","volume":"7","author":"Guo","year":"2024","journal-title":"ACS Applied\nNano Materials"},{"issue":"16","key":"2026093009103497400_cit14","doi-asserted-by":"publisher","first-page":"9296","DOI":"10.1039\/D3TA06976A","article-title":"Flexible Resistive Tactile Pressure\nSensors","volume":"12","author":"Shu","year":"2024","journal-title":"Journal of Materials Chemistry A"},{"issue":"1","key":"2026093009103497400_cit15","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202516810","article-title":"Ultra-Sensitive and Linear Flexible Pressure Sensors\nwith Tri-Scale Graded Microstructures for Advanced Health Monitoring\nand Robotic Perception","volume":"13","author":"Chen","year":"2026","journal-title":"Advanced Science"},{"issue":"43","key":"2026093009103497400_cit16","doi-asserted-by":"publisher","DOI":"10.1002\/smll.202103312","article-title":"Gradient Architecture-Enabled\nCapacitive\nTactile Sensor with High Sensitivity and Ultrabroad Linearity Range","volume":"17","author":"Ji","year":"2021","journal-title":"Small"},{"issue":"48","key":"2026093009103497400_cit17","doi-asserted-by":"publisher","first-page":"66763","DOI":"10.1021\/acsami.4c15808","article-title":"Intelligent Flexible Pressure Sensors\nwith Improved Sensing Range and Sensitivity Based on 3D-Graphene Patterning\nInduced by UV Laser","volume":"16","author":"Jin","year":"2024","journal-title":"ACS Appl. Mater. Interfaces"},{"issue":"2","key":"2026093009103497400_cit18","doi-asserted-by":"publisher","first-page":"921","DOI":"10.1021\/acssensors.4c02684","article-title":"Hierarchical Iontronic Flexible Sensor with High Sensitivity over\nUltrabroad Range Enabled by Equilibration of Microstructural Compressibility\nand Stability","volume":"10","author":"Chen","year":"2025","journal-title":"ACS Sensors"},{"issue":"1","key":"2026093009103497400_cit19","doi-asserted-by":"publisher","DOI":"10.1007\/s40820-025-01757-6","article-title":"Piezotronic Sensor\nfor Bimodal Monitoring\nof Achilles Tendon Behavior","volume":"17","author":"Wang","year":"2025","journal-title":"Nano-Micro Letters"},{"issue":"19","key":"2026093009103497400_cit20","doi-asserted-by":"publisher","first-page":"6196","DOI":"10.3390\/s25196196","article-title":"Touch Piezoelectric\nSensor for Vibration Intensity Testing","volume":"25","author":"Rotmanas","year":"2025","journal-title":"Sensors"},{"issue":"1","key":"2026093009103497400_cit21","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-024-53031-9","article-title":"Porous Flexible\nMolecular-Based Piezoelectric Composite\nAchieves Milliwatt Output Power Density","volume":"15","author":"Luo","year":"2024","journal-title":"Nat.\nCommun."},{"issue":"33","key":"2026093009103497400_cit22","doi-asserted-by":"publisher","first-page":"16837","DOI":"10.1039\/D5TC00912J","article-title":"Sensors\nand Actuators Based on Magnetic Materials for Haptic Interfaces","volume":"13","author":"Ruan","year":"2025","journal-title":"Journal of Materials Chemistry C"},{"issue":"9","key":"2026093009103497400_cit23","doi-asserted-by":"publisher","first-page":"1356","DOI":"10.3390\/s16091356","article-title":"Design Methodology\nfor Magnetic Field-Based\nSoft Tri-Axis Tactile Sensors","volume":"16","author":"Wang","year":"2016","journal-title":"Sensors"},{"issue":"11","key":"2026093009103497400_cit24","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202310145","article-title":"Split-Type Magnetic\nSoft Tactile Sensor\nwith 3D Force Decoupling","volume":"36","author":"Dai","year":"2024","journal-title":"Adv. Mater."},{"issue":"3","key":"2026093009103497400_cit25","doi-asserted-by":"publisher","DOI":"10.1002\/dro2.122","article-title":"Magnetic\nNanofluid-based Liquid Marble for a Self-powered Mechanosensation","volume":"3","author":"Chen","year":"2024","journal-title":"Droplet."},{"issue":"38","key":"2026093009103497400_cit26","doi-asserted-by":"publisher","first-page":"50524","DOI":"10.1021\/acsami.4c12957","article-title":"Cilia-Inspired\nMagnetic Flexible Shear Force Sensors for Tactile\nand Fluid Monitoring","volume":"16","author":"Zhang","year":"2024","journal-title":"ACS Appl. Mater. Interfaces"},{"issue":"24","key":"2026093009103497400_cit27","doi-asserted-by":"publisher","first-page":"8700","DOI":"10.1109\/JSEN.2016.2558599","article-title":"Magnetic Tactile Sensor\nfor Braille Reading","volume":"16","author":"Alfadhel","year":"2016","journal-title":"IEEE Sensors Journal"},{"issue":"2","key":"2026093009103497400_cit28","doi-asserted-by":"publisher","first-page":"971","DOI":"10.1109\/LRA.2017.2656249","article-title":"Bioinspired Ciliary Force Sensor for Robotic Platforms","volume":"2","author":"Ribeiro","year":"2017","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"12","key":"2026093009103497400_cit29","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202306832","article-title":"Magnetic Tactile\nSensor with Bionic\nHair Array for Sliding Sensing and Object Recognition","volume":"11","author":"Man","year":"2024","journal-title":"Advanced Science"},{"issue":"1","key":"2026093009103497400_cit30","doi-asserted-by":"publisher","DOI":"10.1038\/s41378-022-00478-9","article-title":"A Tactile and Airflow Motion Sensor Based on Flexible\nDouble-Layer Magnetic Cilia","volume":"9","author":"Man","year":"2023","journal-title":"Microsystems\n& Nanoengineering"},{"key":"2026093009103497400_cit31","doi-asserted-by":"publisher","first-page":"115533","DOI":"10.1016\/j.measurement.2024.115533","article-title":"Development and Application of Magnetic\nTentacles Array for Sensing Tiny Forces","volume":"240","author":"Zhang","year":"2025","journal-title":"Measurement"},{"issue":"6","key":"2026093009103497400_cit32","doi-asserted-by":"publisher","first-page":"515","DOI":"10.1016\/j.asd.2012.07.001","article-title":"Sensory\nCilia in Arthropods","volume":"41","author":"Keil","year":"2012","journal-title":"Arthropod Structure &\nDevelopment"},{"issue":"4","key":"2026093009103497400_cit35","doi-asserted-by":"publisher","first-page":"6936","DOI":"10.1021\/acsami.4c18259","article-title":"Flexible Tactile Sensors\nwith Self-Assembled Cilia\nBased on Magnetoelectric Composites","volume":"17","author":"Ren","year":"2025","journal-title":"ACS Appl.\nMater. Interfaces"},{"issue":"2","key":"2026093009103497400_cit36","doi-asserted-by":"publisher","first-page":"418","DOI":"10.1039\/D4MH01217H","article-title":"Top-down Architecture of Magnetized Micro-Cilia and\nConductive Micro-Domes\nas Fully Bionic Electronic Skin for de-Coupled Multidimensional Tactile\nPerception","volume":"12","author":"Hu","year":"2025","journal-title":"Materials Horizons"},{"issue":"41","key":"2026093009103497400_cit37","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202500519","article-title":"Magnetic Cilia and Hair-Follicle Architecture\nEnabled\nDual-Mode Bionic E-Skin for High-Sensitivity and Wide-Linear-Range\nTactile\/Touchless Perception","volume":"35","author":"Lu","year":"2025","journal-title":"Adv. Funct.\nMater."},{"issue":"3","key":"2026093009103497400_cit38","doi-asserted-by":"publisher","DOI":"10.1002\/admt.202501095","article-title":"Modeling\nand Optimization of Biomimetic Magnetic Cilia for Multifunctional\nTactile Sensor","volume":"11","author":"Liu","year":"2026","journal-title":"Advanced Materials Technologies"}],"container-title":["Nano Letters"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/pubs.acs.org\/doi\/pdf\/10.1021\/acs.nanolett.6c02453","content-type":"application\/pdf","content-version":"vor","intended-application":"unspecified"},{"URL":"https:\/\/pubs.acs.org\/nalefd\/article-pdf\/26\/38\/12693\/68096826\/acs.nanolett.6c02453.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/pubs.acs.org\/nalefd\/article-pdf\/26\/38\/12693\/68096826\/acs.nanolett.6c02453.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T13:50:00Z","timestamp":1790776200000},"score":1,"resource":{"primary":{"URL":"https:\/\/pubs.acs.org\/nalefd\/article\/26\/38\/12693\/5395295\/Bioinspired-Flexible-Tactile-Sensor-with"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9,1]]},"references-count":36,"journal-issue":{"issue":"38","published-online":{"date-parts":[[2026,9,1]]},"published-print":{"date-parts":[[2026,9,30]]}},"URL":"https:\/\/doi.org\/10.1021\/acs.nanolett.6c02453","relation":{},"ISSN":["1530-6984","1530-6992"],"issn-type":[{"value":"1530-6984","type":"print"},{"value":"1530-6992","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,9,1]]}}}