{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,8]],"date-time":"2026-03-08T11:25:51Z","timestamp":1772969151180,"version":"3.50.1"},"reference-count":39,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2024,4,28]],"date-time":"2024-04-28T00:00:00Z","timestamp":1714262400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"2023 Heilongjiang Provincial Basic Research Fund for Universities","award":["2023-KYYWF-1461"],"award-info":[{"award-number":["2023-KYYWF-1461"]}]},{"name":"2023 Heilongjiang Provincial Basic Research Fund for Universities","award":["51475100"],"award-info":[{"award-number":["51475100"]}]},{"name":"The National Natural Science Foundation of China","award":["2023-KYYWF-1461"],"award-info":[{"award-number":["2023-KYYWF-1461"]}]},{"name":"The National Natural Science Foundation of China","award":["51475100"],"award-info":[{"award-number":["51475100"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Flexible sensors have gained popularity in recent years. This study proposes a novel structure of a resistive four-channel tactile sensor capable of distinguishing the magnitude and direction of normal forces acting on its sensing surface. The sensor uses EcoflexTM00-30 as the substrate and EGaIn alloy as the conductive filler, featuring four mutually perpendicular and curved channels to enhance the sensor\u2019s dynamic responsiveness. Experiments and simulations show that the sensor has a large dynamic range (31.25\u2013100 m\u03a9), high precision (deviation of repeated pressing below 0.1%), linearity (R2 above 0.97), fast response\/recovery time (0.2 s\/0.15 s), and robust stability (with fluctuations below 0.9%). This work uses an underactuated robotic hand equipped with a four-channel tactile sensor to grasp various objects. The sensor data collected effectively predicts the shapes of the objects grasped. Furthermore, the four-channel tactile sensor proposed in this work may be employed in smart wearables, medical diagnostics, and other industries.<\/jats:p>","DOI":"10.3390\/s24092808","type":"journal-article","created":{"date-parts":[[2024,4,29]],"date-time":"2024-04-29T08:49:24Z","timestamp":1714380564000},"page":"2808","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["High-Performance Four-Channel Tactile Sensor for Measuring the Magnitude and Orientation of Forces"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-8785-3458","authenticated-orcid":false,"given":"Mingyao","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Heilongjiang University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yong","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Heilongjiang University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haitao","family":"Ge","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Heilongjiang University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guopeng","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Heilongjiang University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zihan","family":"Lian","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Heilongjiang University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yifei","family":"Lu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Heilongjiang University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,4,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1016\/j.snb.2016.12.064","article-title":"Flexible Polyaniline\/Carbon Nanotube Nanocomposite Film-Based Electronic Gas Sensors","volume":"244","author":"Xue","year":"2017","journal-title":"Sens. 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