Issue

Vol. 19 (2027)

High-Spatiotemporal and Multimodal Soft Tactile Interface with Layered Architecture for Simultaneous Structural and Thermal Perception

https://doi.org/10.1007/s40820-026-02336-z
Jaehwan Jang
Department of Medical Engineering, College of Medicine, Yonsei University, Seoul 03722, Republic of Korea
Seong‑Min Im
Department of Medical Engineering, College of Medicine, Yonsei University, Seoul 03722, Republic of Korea
Byeong‑Sun Park
School of Mechanical Engineering, Yonsei University, Seoul 03722, Republic of Korea
Jiwon Choi
Department of Medical Engineering, College of Medicine, Yonsei University, Seoul 03722, Republic of Korea
Dokyung Kim
School of Mechanical Engineering, Yonsei University, Seoul 03722, Republic of Korea
Min‑gu Kim
Department of Medical Engineering, College of Medicine, Yonsei University, Seoul 03722, Republic of Korea

Corresponding Author: Min‑gu Kim

mgk@yonsei.ac.kr

Nano-Micro Letters, Vol. 19 (2027), Article Number: 49

Abstract

Advanced robotic systems require tactile perception to interact reliably with objects in environments where visual information is limited by occlusion, illumination variations, and focusing issues. However, conventional tactile sensors are limited to single-stimulus recognition and face fundamental challenges in scalability and functionality, as miniaturizing sensor pixels reduces baseline signal levels and degrades the SNR. This study presents a high-spatiotemporal and multimodal soft tactile interface for simultaneous perception of structural and thermal profiles, fabricated through a layered architecture enabled by additive manufacturing. The proposed interface incorporates a 3D-stacked capacitive pressure sensor that combines buried interdigitated capacitors and a parallel-plate capacitor, and a reduced graphene oxide based temperature sensor within the same pixel area. The 3D-stacked electrode architecture enhances baseline capacitance within a miniaturized pixel footprint, and a via-free, interlayered interconnection scheme resolves wiring complexity in the temperature sensor array. Each sensing layer operates through independent transduction mechanisms, enabling the simultaneous perception of structural and thermal profiles with minimal cross-interference. The fabricated multimodal array can spatially resolve both contact geometry and localized thermal distributions with high-spatiotemporal resolution. Furthermore, by applying a tactile scanning strategy in robotic perception, the platform successfully identifies geometric features and surface thermal profiles of target objects even under vision-limited conditions. This study provides a scalable and robust foundation for multimodal tactile perception in advanced robotic manipulation and human–robot interaction.


Highlights:
1 A 3D-integrated multimodal soft tactile interface is fabricated via additive manufacturing for simultaneous perception of structural and thermal profiles.
2 A layered architecture achieves high spatial density (integrating 200 sensors with 92.6 sensors cm-2), enhanced signal quality, and decoupled pathways, ensuring reliable multimodal sensing with minimal cross-interference.
3 A tactile scanning strategy enables simultaneous identification of geometric features and hot-spot temperatures across a large area of target objects when visual information is limited.

Keywords

Multimodal sensing Soft tactile interface Tactile scanning Soft pressure–temperature sensor array Vision-tactile framework Robot perception
Jang, Jaehwan, Seong‑Min Im, Byeong‑Sun Park, Jiwon Choi, Dokyung Kim, and Min‑gu Kim. 2026. “High-Spatiotemporal and Multimodal Soft Tactile Interface With Layered Architecture for Simultaneous Structural and Thermal Perception”. Nano-Micro Letters 19 (September):49. https://doi.org/10.1007/s40820-026-02336-z.
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