Bio-inspired self-sensing suction cups for stable dynamic grasping

• • 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.