ArticleSensors (Basel, Switzerland)2026
A Standalone Capacitive Tactile Fingertip Module for Multi-Point Contact Sensing in Robotic Grasping.
Article in Sensors (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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4 authors.
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Abstract
Tactile sensing can enhance robotic grasping by providing contact information unavailable from vision or control signals alone. However, implementing tactile sensing in robotic hands is often constrained by external wiring, data-acquisition hardware, power requirements, and limited fingertip space. This study presents a self-contained capacitive tactile fingertip module for adding wireless multi-point contact sensing to robotic grippers. The module integrates a 3 × 1 array of thin flexible capacitive sensors, a capacitance-to-digital converter, a Bluetooth-enabled microcontroller, and an onboard battery within a compact fingertip-shaped housing. It can be mounted in place of an existing fingertip and operates independently of the robotic hand controller. Individual sensors characterized before module integration responded near-linearly to normal compression up to 2.5 N, with an approximately 8% relative capacitance change at 2.5 N and R
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