Self-powered bionic antenna based on triboelectric nanogenerator for micro-robotic tactile sensing

Antennae are the main sensory organs of insects which allow them to gather information from environment through direct contact and active sensing. In this study, a self-powered bionic antenna (SBA) was developed to emulate the structure and function of insect antenna for robotic tactile sensing. The sensing component of SBA based on the triboelectric nanogenerator (TENG) technology enables the conversion of mechanical stimuli into voltage signal without requiring external power source, and is capable of identifying different contact materials. To imitate the active sensing performance of insect antenna, a two-stage actuator was designed and integrated into the SBA, enabling active sensing in both the horizontal and vertical planes. The ultra-sensitive, lightweight and drivable design of SBA renders it highly compatible with micro soft robots featured with low actuation force and compact size, facilitating both passive and active real-time sensing and making it a promising solution for future robotic tactile systems.