Evidence map›Paper›PMID 41589981›Full record

ArticleBiomimetics (Basel, Switzerland)2026

Preload-Free Conformal Integration of Tactile Sensors on the Fingertip's Curved Surface.

Lei Liu, Peng Ran, Yongyao Li, Tian Tang, Yun Hu, Jian Xiao, Daijian Luo, Lu Dai, Yufei Liu, Jiahu Yuan and 1 more

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Biomimetics (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Review
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

11 authors.

Lei LiuDepartment of Biomedical Engineering, School of Life Health Information Science and Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China.
Peng RanDepartment of Biomedical Engineering, School of Life Health Information Science and Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China.
Yongyao LiNational and Local Co-Build Humanoid Robot Innovation Center, Shanghai 201203, China.
Tian TangChongqing Key Laboratory of Generic Technology and System of Service Robots, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China.
Yun HuChongqing Key Laboratory of Generic Technology and System of Service Robots, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China.
Jian XiaoChongqing Key Laboratory of Generic Technology and System of Service Robots, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China.
Daijian LuoChongqing Key Laboratory of Generic Technology and System of Service Robots, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China.
Lu DaiChongqing Key Laboratory of Generic Technology and System of Service Robots, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China.
Yufei LiuNational and Local Co-Build Humanoid Robot Innovation Center, Shanghai 201203, China.
Jiahu YuanChongqing Key Laboratory of Generic Technology and System of Service Robots, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China.
Dapeng WeiDepartment of Biomedical Engineering, School of Life Health Information Science and Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China.ORCID 0000-0002-3575-617X

Funding

National Key Research and Development Program of China 2024YFB3814100National Key Research and Development Program of China 2024YFB4710100National Natural Science Foundation of China No.62471454Open Fund Project of National and Local Co-build Humanoid Robot Innovation Center Open Fund Project of National and Local Co-build Humanoid Robot Innovation Center HRCPUR20251106006Shenzhen Science and Technology Program KJZD20240903100700001the Project of Chongqing Economic and Information Commission YJX-2025001001007the Project of Chongqing Science and Technology Bureau CSTB2023TIAD-STX0037the Project of Chongqing Science and Technology Bureau CSTB2025TIAD-KPX0097
6 · The paper itself

Abstract

Humans could sensitively perceive and identify objects through dense mechanoreceptors distributed on the skin of curved fingertips. Inspired by this biological structure, this study presents a general conformal integration method for flexible tactile sensors on curved fingertip surfaces. By adopting a spherical partition design and an inverse mode auxiliary layering process, it ensures the uniform distribution of stress at different curvatures. The sensor adopts a 3 × 3 tactile array configuration, replicating the 3D curved surface distribution of human mechanoreceptors. By analyzing multi-point outputs, the sensor reconstructs contact pressure gradients and infers the softness or stiffness of touched objects, thereby realizing both structural and functional bionics. These sensors exhibit excellent linearity within 0-100 kPa (sensitivity ≈ 36.86 kPa

Indexed as

conformal adhesionflexible tactile arrayinverse moldpreload-free integration

Identifiers

PMID41589981
PMCPMC12838850

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.