A Flexible Pressure/Bending Bimodal Sensor for Hand Movements Monitoring

Yiding Gu, Jian Li, Chaoyue Zheng, Jiang Huang, Zhi David Chen, Ting Zhang, Shibin Li

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


Flexible force-sensitive devices capable of measuring and distinguishing multiple mechanical stimuli are major components in the development of robot tactile applications. Herein, a pressure/bending bimodal flexible tactile sensor is proposed for hand movements monitoring. The sensor consists of a pressure sensing unit that is insensitive to bending and a bending sensing unit that is insensitive to pressure. The sensor exhibits differentiated working mode under pressure load and bending deformation. The pressure and bending sensitivity can reach up to 0.094 kpa-1 and 0.138 rad-1, respectively. When the sensor is subjected to pressure, the maximum crosstalk in the bending sensing module accounts for up to 19.6% of the pressure response. When subjected to bending, the maximum crosstalk in the pressure sensing module accounts for 17.6% of the bending response. This indicates that the dual mode outputs indeed accurately distinguish between pressure and bending stimuli. The sensor also shows good mechanical stability in repeated pressing/bending test over 1000 times. Finally, a smart glove with five bimodal sensors integrated at the knuckles is fabricated to demonstrate its applications in tactile perception, gesture, and grasp recognition.

Original languageEnglish
Pages (from-to)30241-30248
Number of pages8
JournalIEEE Sensors Journal
Issue number24
StatePublished - Dec 15 2023

Bibliographical note

Publisher Copyright:
© 2001-2012 IEEE.


  • Bending sensing
  • flexible bimodal sensor
  • pressure sensing
  • smart glove

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


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