{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,6]],"date-time":"2026-11-06T01:36:23Z","timestamp":1793928983109,"version":"4.8.0"},"reference-count":29,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T00:00:00Z","timestamp":1765324800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Robotic grippers are widely utilized in industrial manufacturing, but object slippage during assembly poses challenges, including potential damage, delays, and increased costs. Therefore, early slip detection is crucial for efficient manufacturing operations. Piezoelectric tactile sensors using polyvinylidene fluoride (PVDF) have been developed to detect vibrations. Nevertheless, the development of such sensors with a simple structure and lower fabrication cost, continues to be a challenging task. The analysis on the effect of the thicknesses of soft body layers that attached to sensing elements on the slip sensor\u2019s performance has yet been discussed. In this project, a simple-structured and low-cost design of a flexible piezoelectric tactile sensor based on PVDF to estimate slip using robotic gripper is presented. The effect of different thicknesses of soft body layer made of silicone rubber and the sensor\u2019s performance in detecting slip is discussed. A PVDF-based sensor is attached to soft body layer that is incorporated into a robotic gripper. Experimental results demonstrate that sensor sensitivity increases with lower soft body layer thickness. Additionally, the sensor\u2019s signal amplitude increases with object load, indicating slip intensity. This advancement addresses challenges in fabricating simple structures and cost-effective piezoelectric sensors which enhance robotic gripper functionality in industrial applications.<\/jats:p>","DOI":"10.3389\/frobt.2025.1691688","type":"journal-article","created":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T05:25:59Z","timestamp":1765344359000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":9,"title":["PVDF-based flexible piezoelectric tactile sensor for slip estimation using robotic gripper"],"prefix":"10.3389","volume":"12","author":[{"given":"Muhammad Hisyam","family":"Rosle","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abdul Rashid","family":"Saffiai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abdul","family":"Nasir","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Muhammad Nur Farhan","family":"Saniman","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2025,12,10]]},"reference":[{"key":"B1","first-page":"485","article-title":"Holding, grasping and sensing of prosthetic robot arm like a real human hand, a journey beyond limits: an extensive review","author":"Babu","year":"2022"},{"key":"B2","doi-asserted-by":"publisher","first-page":"556","DOI":"10.1089\/soro.2021.0200","article-title":"A passively conforming soft robotic gripper with three-dimensional negative bending stiffness fingers","volume":"10","author":"Chu","year":"2023","journal-title":"Soft Robotics"},{"key":"B3","doi-asserted-by":"publisher","first-page":"332","DOI":"10.3390\/act12080332","article-title":"Control methodologies for robotic grippers: a review","volume":"12","author":"Cortinovis","year":"2023","journal-title":"Actuators"},{"key":"B4","doi-asserted-by":"publisher","first-page":"11767","DOI":"10.1109\/LRA.2022.3205768","article-title":"A soft barometric tactile sensor to simultaneously localize contact and estimate normal force with validation to detect slip in a robotic gripper","volume":"7","author":"De Clercq","year":"2022","journal-title":"IEEE Robotics Automation Lett."},{"key":"B5","doi-asserted-by":"publisher","first-page":"615991","DOI":"10.3389\/frobt.2021.615991","article-title":"Fabrication of a soft robotic gripper with integrated strain sensing elements using multi-material additive manufacturing","volume":"8","author":"Georgopoulou","year":"2021","journal-title":"Front. 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