Key Takeaways & Executive Findings
- •• • The self-sensing suction cup operates across a 0–25 kPa negative pressure range, achieving outstanding linearity (R2 = 0.993) and high sensitivity (GF = 10.436 kPa−1), enabling precise deformation monitoring for industrial gripping. • • Individual sensors exhibit a fast response time of 411 ms at pressures as low as 8 kPa, maintaining good stability, which is critical for real-time feedback in dynamic grasping operations. • • The system demonstrates a linear current-angle relationship with R2 = 0.978, allowing accurate inference of adsorption angle from current measurements, enhancing adaptability to varied object orientations. • • Integration of four flexible Ag NWs/LIG sensors in a Wheatstone bridge configuration ensures consistent performance under steady-state conditions across varying pressure and strain levels, validating reliability for logistics and precision assembly.
Abstract
Existing robotic end-effector gripping technologies often encounter challenges such as poor adaptability to environmental changes, incomplete deformation sensing, and insufficient adhesion stability, which can compromise operational safety and reliability. Here, we present the bio-inspired self-sensing suction cup, in which the core self-sensing capability is achieved by combining high-performance, laser-induced graphene/Ag NWs flexible sensors with a Wheatstone bridge design. The flexible sensors provide high sensitivity, while the Wheatstone bridge circuit enables accurate and stable detection of deformation during the gripping process. Integrated into the octopus-inspired suction cup, this system allows for real-time monitoring of deformation and adsorption stability. The self-sensing suction cup demonstrates good performance across a 0–25 kPa negative pressure range, with outstanding linearity (R2 = 0.993) and high sensitivity (GF = 10.436 kPa−1). Experimental results confirm that the suction cup can achieve stable adsorption under varying loads and enable real-time monitoring of the suction cup status during the gripping process. This design provides a promising solution for intelligent gripping systems, logistics, and object recognition in challenging environments.
1. Introduction
Conventional robotic end-effectors, particularly vacuum suction cups, face persistent bottlenecks in dynamic environments: they lack real-time deformation sensing and adhesion stability monitoring, leading to object dislodgement or displacement. Visual sensing methods are susceptible to lighting variations and surface feature deficiencies, while existing tactile approaches often suffer from incomplete deformation detection and poor integration. These limitations compromise operational safety and reliability in applications such as orchard picking, logistics handling, and human-robot interaction.
This study addresses these bottlenecks by integrating high-performance flexible sensors—laser-induced graphene (LIG) decorated with silver nanowires (Ag NWs)—into an octopus-inspired suction cup, coupled with a Wheatstone bridge circuit. The design enables accurate, stable detection of deformation and adsorption stability across a 0–25 kPa negative pressure range, achieving high sensitivity (GF = 10.436 kPa−1) and linearity (R2 = 0.993). This self-sensing capability provides a unified sensing-actuation system that overcomes the limitations of visual and conventional tactile methods, offering a robust solution for intelligent gripping in challenging environments.
Loading authentic research manuscript (Pages 1–5)...
Zhihao Zhou, Jingyuan Zhao, Rui Li, Yuanyuan Li, Xin Huang, Zhiqin Zhu, Mengjie Shou, Decheng Wu, Jiaheng Liang, Pingan Yang (2026). Bio-inspired self-sensing suction cups for stable dynamic grasping. SCIENCE CHINA Materials. https://doi.org/10.1007/s40843-025-3652-2
Research & Educational Purpose Only: The translations, structured abstracts, analytical annotations, and data reports provided by SinoGreenTechare intended exclusively for academic research, internal corporate R&D, and educational benchmarking. They do not constitute formal engineering, chemical safety, legal, or professional advice.
Copyright & Intellectual Property Notice: Original copyright of the underlying source articles and experimental data remains with the respective authors, institutions, and original publishing journals. SinoGreenTech claims intellectual property only over its proprietary translations, analytical syntheses, and AEO structured enhancements in accordance with international fair use and academic citation principles.
Frequently Asked Questions
What is the failure mechanism of the self-sensing suction cup under high tilt angles or dynamic loads?
As tilt angle increases, the suction cup exhibits greater fluctuations during object detachment, requiring higher forces to maintain adsorption stability. This results in more pronounced bridge imbalance and current variations, but the system maintains overall stability. The linear current-angle relationship (R2 = 0.978) allows accurate inference of adsorption angle, enabling proactive adjustments to prevent failure.
How does the sensor's response time and sensitivity compare to existing tactile sensors for real-time gripping control?
The individual sensor shows a fast response time of 411 ms at pressures as low as 8 kPa, with high sensitivity (GF = 10.436 kPa−1) across a 0–25 kPa range. This rapid response and high sensitivity enable real-time monitoring of deformation and adsorption stability, outperforming many conventional tactile sensors that may have slower response or lower sensitivity.
What are the scalability and cost implications of integrating LIG/Ag NWs sensors into suction cups for industrial deployment?
The fabrication process uses laser-induced graphene on PI film and Ag NWs solution, which are relatively low-cost and scalable. The integration of four sensors per cup adds minimal cost compared to traditional sensing systems. However, the need for precise laser patterning and sensor alignment may require specialized equipment, but the process is amenable to batch production.
How does the Wheatstone bridge design enhance measurement accuracy compared to single-sensor configurations?
The Wheatstone bridge configuration with four sensors provides differential measurement, canceling common-mode noise and temperature effects, thereby enhancing accuracy and stability. This is confirmed by consistent performance under steady-state conditions across varying pressure and strain levels, ensuring reliable detection of deformation.
What are the limitations of the current design in terms of load-bearing capacity and environmental robustness?
The suction cup demonstrates stable adsorption under varying loads, but the maximum load capacity is not explicitly stated. The sensor performance is validated up to 25 kPa negative pressure, and the system shows good anti-interference capability. However, long-term durability under harsh conditions (e.g., extreme temperatures, chemical exposure) remains to be evaluated.
Related Chinese Research & Cross-Citations
Ammonium Vanadate Cathodes in Aqueous Zinc-Ion Batteries: Design Strategies and Research Progress
Aqueous zinc-ion batteries (AZIBs) offer a compelling combination of high safety, environmental compatibility, and abundant zinc resources, positioning them as viable candidates for grid-scale energy storage. Their practical deployment, however, is constrained by cathode materials that suffer from structural degradation, sluggish Zn2+ diffusion, and inadequate electronic conductivity. Ammonium vanadates (AVOs) have emerged as high-performance cathodes owing to their layered or tunneled frameworks, which accommodate reversible Zn2+ (de)intercalation with diffusion coefficients superior to conventional vanadium oxides. This review systematically examines recent advances in AVO cathodes for AZIBs, correlating morphological variations—including nanowires, nanobelts, and microflowers—with electrochemical characteristics. The analysis establishes structure–performance relationships that govern capacity retention, rate capability, and cycling stability. Key optimization strategies are critically assessed: defect engineering to enhance electronic conductivity and active site density, interlayer spacing modulation via pre-intercalated cations or structural water to facilitate Zn2+ transport, and composite construction with conductive carbonaceous or polymeric matrices to mitigate dissolution and improve mechanical integrity. Despite these advances, challenges persist in achieving long-term cycling stability (>10,000 cycles) and high areal mass loading (>10 mg cm-2) required for commercial viability. The review concludes by outlining future research directions, including operando characterization of degradation mechanisms and scalable synthesis routes for AVO cathodes in practical AZIB configurations.
Microenvironment-responsive therapeutic platforms: Innovations for spinal cord injury repair
Spinal cord injury (SCI) remains a formidable clinical challenge due to the complex, dynamic lesion microenvironment that impedes axonal regeneration and functional recovery. This highlight examines a microenvironment-responsive therapeutic platform integrating microneedle delivery, ferroptosis modulation, and hydrogen therapy. The platform leverages the pathological hallmarks of SCI—oxidative stress, iron dyshomeostasis, and lipid peroxidation—to achieve spatiotemporally controlled cargo release. By combining microneedle arrays for minimally invasive intraparenchymal administration with hydrogen-releasing biomaterials, the system addresses the dual bottlenecks of poor drug penetration across the blood-spinal cord barrier and insufficient neutralization of reactive oxygen species. Ferroptosis inhibition is achieved through iron chelation and glutathione peroxidase 4 (GPX4) stabilization, while hydrogen gas scavenges hydroxyl radicals and peroxynitrite. This multimodal strategy attenuates secondary injury cascades, reduces glial scar formation, and promotes neural stem cell differentiation. The work is supported by the National Natural Science Foundation of China (82574518) and the Talent Cultivation Project of Paring Academicians with Young Talents in higher education institutions in Zhejiang. The authors declare no conflict of interest. This highlight underscores the translational potential of microenvironment-responsive platforms for SCI repair, emphasizing the need for rigorous preclinical validation and scalable manufacturing.
Dual-Site Adsorption over Phosphorus-Doped Copper Oxide for Efficient CO2 Electroreduction to Ethylene
Electroreduction of CO2 to ethylene offers a promising route for renewable electricity storage, yet achieving high ethylene selectivity at industrial current densities remains challenging due to the large energy barrier for C–C coupling. Here, we report a “MOF-assisted in situ doping” strategy to introduce the oxophilic nonmetal phosphorus (P) into the copper oxide (CuO) lattice, constructing a localized Cu–P dual-site adsorption configuration for the key *OCCHO intermediate. The optimized catalyst delivers an impressive Faradaic efficiency of 64.6% for ethylene with a partial current density of 646 mA cm-2. Comprehensive structural characterizations demonstrate that P mainly occupies Cu sites, generating abundant lattice defects and oxygen vacancies. In situ synchrotron infrared spectroscopy and theoretical calculations reveal that P doping modulates the electronic structure of Cu, optimizes the binding energies of *CO and *CHO, and stabilizes *OCCHO via P–O/Cu–C dual-site adsorption, thereby significantly lowering the asymmetric C-C coupling energy barrier to 0.74 eV. This work highlights a dual-site microenvironment regulation strategy for CO2-to-ethylene electroreduction.
Hydrophilic Single-Atom Interface Unlocks Low-Potential CO Removal on Pt in PEMFCs
Proton exchange membrane fuel cells (PEMFCs) fed with reformate hydrogen suffer severe anode poisoning by trace CO, necessitating high CO electrooxidation potentials that degrade performance and durability. This work introduces a Pt@CrSA-N-C anode catalyst featuring a hydrophilic Cr single-atom interface that simultaneously weakens CO adsorption on Pt via electronic regulation and promotes water activation, thereby lowering the CO oxidation onset potential to approximately 0.13 V vs. RHE. The onset potential was determined by two independent methods: the first potential at which the background-corrected current exceeds 0 mA cm-2 during CO oxidation reaction tests in a three-electrode system, and the potential at which the forward scan current exceeds the N2 background current in CO-stripping voltammetry. The catalyst achieves a maximum power density under 100 ppm CO that surpasses reported advanced catalysts, as compiled in Table S5. Structural, spectroscopic, and electrochemical characterizations collectively establish a coherent rationale for the hydrophilic single-atom interface strategy. This approach addresses the longstanding trade-off between CO tolerance and Pt utilization, offering a viable route for low-potential CO removal in practical PEMFC anodes.
An Ionoelastomer-Based Bioinspired Wearable Electronics with Tele-Perception and Tactile Sensation for Machine Learning-Assisted Rehabilitation Management
Comprehensive assessment of rehabilitation efficiency is essential for designing appropriate training programs for better musculoskeletal functional recovery. Existing contact-receptor-dependent rehabilitation assessment systems mostly focus on assessing the restoration of muscle function by evaluating grip strength or joint flexion angle; however, parameters reflecting neuromuscular synergistic function are always overlooked. Herein, we develop an ionoelastomer-based soft artificial electroreceptor (SAER) that integrates tele-perception and tactile sensation to track the rehabilitation process, collecting signals related to approaching speed and grip strength sequentially. The SAER uses polyurethane ionoelastomer incorporated with quasi-solid conductive salt as the electric field receptor, and is integrated on a rehabilitation-training ball after assembly to establish an untethered detection device; this enables the remote capture of hand approaching parameter within a 9 cm range, followed by the quantification of grip strength when contacting and grasping. Furthermore, a data-driven assessment system is established by integrating machine learning, which accurately classifies rehabilitation efficiency into six levels; it supports for rehabilitation evaluation and training programs adjustment. Overall, the SAER-based rehabilitation management system establishes a paradigm that synergistically evaluating parameters corresponding to neuromuscular functional restoration and holds strong potential for home-based active rehabilitation for minimizing dependence on frequent clinical supervision.
Microwave-Absorbing Materials with Strong Environmental Adaptability for Corrosion Protection, Anti-Icing, and Thermal Management
Microwave-absorbing materials (MAMs) deployed on naval vessels, aerospace vehicles, and critical electronic systems face coupled electromagnetic, marine salt-spray corrosion, and extreme-temperature loads that legacy single-function absorbers cannot withstand. This review consolidates progress on three environmentally adaptive MAM classes: corrosion-protective, anti-icing, and thermal-management absorbers. The electromagnetic loss and impedance-matching fundamentals are first established, then the synergistic mechanisms, design strategies, and characterization protocols for each class are examined against representative material systems and their measured performance. The analysis identifies a shared design logic—multiscale hierarchical architecture, interfacial polarization engineering, and multifunctional phase integration—while distinguishing the divergent protection mechanisms: barrier and passivation effects for corrosion, surface-energy and latent-heat regulation for anti-icing, and phonon–electron transport decoupling for thermal management. Persistent bottlenecks include the trade-off between impedance matching and protective-layer density, the absence of standardized coupled-field test protocols, and the scarcity of long-term salt-spray and thermal-cycling durability data. Future directions are delineated: intelligent self-adaptive absorbers, multiphysics-coupled simulation frameworks, and environmentally benign multifunctional integration. The review provides a theoretical and technical basis for the design, construction, and engineering scale-up of next-generation high-performance absorbers for aerospace, electronic, and marine equipment.