{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T09:23:56Z","timestamp":1778923436125,"version":"3.51.4"},"reference-count":35,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2016,11,25]],"date-time":"2016-11-25T00:00:00Z","timestamp":1480032000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51405318"],"award-info":[{"award-number":["51405318"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National High Technology Research and Development Program of China","award":["2015AA043502"],"award-info":[{"award-number":["2015AA043502"]}]},{"DOI":"10.13039\/501100017684","name":"Foundation Research Project of Jiangsu Province","doi-asserted-by":"publisher","award":["BK 20140335"],"award-info":[{"award-number":["BK 20140335"]}],"id":[{"id":"10.13039\/501100017684","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this study, a flexible tactile sensing array based on a capacitive mechanism was designed, fabricated, and characterized for sensitive robot skin. A device with 8 \u00d7 8 sensing units was composed of top and bottom flexible polyethyleneterephthalate (PET) substrates with copper (Cu) electrodes, a polydimethylsiloxane (PDMS) dielectric layer, and a bump contact layer. Four types of microstructures (i.e., pyramids and V-shape grooves) atop a PDMS dielectric layer were well-designed and fabricated to enhance tactile sensitivity. The optimal sensing unit achieved a high sensitivity of 35.9%\/N in a force range of 0\u20131 N. By incorporating a tactile feedback control system, the flexible sensing array as the sensitive skin of a robotic manipulator demonstrated a potential capability of robotic obstacle avoidance.<\/jats:p>","DOI":"10.3390\/s16122001","type":"journal-article","created":{"date-parts":[[2016,11,25]],"date-time":"2016-11-25T08:18:15Z","timestamp":1480061895000},"page":"2001","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":61,"title":["The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin"],"prefix":"10.3390","volume":"16","author":[{"given":"Zhangping","family":"Ji","sequence":"first","affiliation":[{"name":"School of Mechanical and Electric Engineering, Collaborative Innovation Center of Suzhou Nano Science and Technology, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou 215000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hui","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electric Engineering, Collaborative Innovation Center of Suzhou Nano Science and Technology, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou 215000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huicong","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electric Engineering, Collaborative Innovation Center of Suzhou Nano Science and Technology, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou 215000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nan","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electric Engineering, Collaborative Innovation Center of Suzhou Nano Science and Technology, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou 215000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electric Engineering, Collaborative Innovation Center of Suzhou Nano Science and Technology, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou 215000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3063-4819","authenticated-orcid":false,"given":"Zhan","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electric Engineering, Collaborative Innovation Center of Suzhou Nano Science and Technology, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou 215000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lining","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electric Engineering, Collaborative Innovation Center of Suzhou Nano Science and Technology, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou 215000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,11,25]]},"reference":[{"key":"ref_1","first-page":"70","article-title":"Intelligent robot trends and predictions for the net future","volume":"4572","author":"Hall","year":"2001","journal-title":"Proc. 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