Gradient-Asymmetric WPU-CNT@Bi 2 Te 3 Film for Flexible Tactile Sensor with Decoupled Bending–Thermal Sensing Capacity

作者：Peng Lu, Shuang Xia, Ying Cao, Hao Zhu, Lei Fu, Shen Yuan, Shengzhao Li, Yuanyuan Bai, Ting Zhang, Tie Li · 发表于：Nano Letters · 年份：2025 · DOI：10.1021/acs.nanolett.5c03246 · 被引用次数：7 · 研究领域：Advanced Sensor and Energy Harvesting Materials、Tactile and Sensory Interactions、Advanced Materials and Mechanics

Flexible tactile sensors equipped with multimodal decoupling capabilities are essential for the advancement of intelligent robotics. However, these sensors face challenges related to signal interference and limitations in single-variable detection. Drawing inspiration from the multilayered architecture and perception ability of biological skin, this study presents the development of an asymmetric gradient WPU-CNT@Bi 2 Te 3 film via a gravity-induced self-sedimentation strategy, which integrates piezoresistive and thermoelectric effects, facilitating a dual-mode decoupled sensing capacity. The gradient distribution of CNT@Bi 2 Te 3 within the polyurethane matrix significantly enhances the bending sensitivity and thermoelectric output by establishing differential pathways for strain fields and reducing the thermal conductivity. When coupled with flexible heaters, the as-derived flexible tactile sensor can achieve an ultrahigh recognition accuracy of 100% in classifying complex objects possessing various shapes and materials simultaneously by using a multimodal fusion CNN algorithm. Moreover, this sensor demonstrates exceptional stability and conformal adaptability, thereby enabling a robotic hand with precise grasping ability.