Quantitative softness and texture bimodal haptic sensors for robotic clinical feature identification and intelligent picking.

Replicating human somatosensory networks in robots is crucial for dexterous manipulation, ensuring the appropriate grasping force for objects of varying softness and textures. Despite advances in artificial haptic sensing for object recognition, accurately quantifying haptic perceptions to discern softness and texture remains challenging. Here, we report a methodology that uses a bimodal haptic sensor to capture multidimensional static and dynamic stimuli, allowing for the simultaneous quantification of softness and texture features. This method demonstrates synergistic measurements of elastic and frictional coefficients, thereby providing a universal strategy for acquiring the adaptive gripping force necessary for scarless, antislippage interaction with delicate objects. Equipped with this sensor, a robotic manipulator identifies porcine mucosal features with 98.44% accuracy and stably grasps visually indistinguishable mature white strawberries, enabling reliable tissue palpation and intelligent picking. The design concept and comprehensive guidelines presented would provide insights into haptic sensor development, promising benefits for robotics.

A sensitive fluorescent sensor for selective determination of dichlorvos based on the recovered fluorescence of carbon dots-Cu(II) system.

In this paper, a simple and sensitive fluorescent sensor for dichlorvos was first constructed based on carbon dots-Cu(II) system. These carbon dots were obtained by simple hydrothermal reaction of feather. The fluorescence of these carbon dots can be selectively quenched by Cu(2+) ion. When acetylcholinesterase and acetylthiocholine were introduced into the system, thiocholine came into being, which can react with Cu(2+) ion and restore the fluorescence of the system. The reaction mechanism between Cu(2+) ion and thiocholine was confirmed by X-ray photoelectron spectroscopy. As one kind of acetylcholinesterase inhibitor, organophosphorus pesticides can be detected based on this sensing system. As an example of organophosphorus pesticides, dichlorvos was detected with a linear range of 6.0×10(-9)-6.0×10(-8)M. This sensing system has been successfully used for the analysis of cabbage and fruit juice samples.