Fig. 5: Anti-friction APSA.
From: Anti-friction gold-based stretchable electronics enabled by interfacial diffusion-induced cohesion
a Schematic illustration of a bionic robot palm integrated with tactile perception to grasp an object. b Schematic of structure and location of the APSA with 36 sensors (3 rows × 12 columns) and 15 electrodes. c Response of the sensing unit of APSA before and after 1000 frictions. d Optical image of the APSA attached on the palm of a female volunteer to grasp an apple with smooth surface. e Zoom-in image showing the conformable contact between grasper and the apple. f Pressure force maps of the APSA with a color scale indicating the pressure when grasping the apple. g Optical image of the APSA attached on the palm of a female volunteer to grasp a horned melon with spinous surface. h Zoom-in image showing unconformable contact between grasper and the horned melon with sharp deformation domains. i Pressure force maps of the APSA with a color scale indicating the pressure when grasping the horned melon. j Stability of the APSA during cyclic sharp deformation tests under 2.2 MPa pressure. k SEM images of Au-RPU electrodes used for the APSA after the first (left) and 200 times (right) sharp deformation test under 2.2 MPa pressure. Scale bar: 5 μm. Each experiment was repeated three times independently with similar results.
