A Flexible Integration of Photo‐Thermal Driven Monolithic Soft Intelligent Gripper Directed by Tactile Perception as Cross‐talk‐free Control Feedback

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ABSTRACT The flexible integration of contact perception and response actuation in a single soft system without signal crosstalk remains a key challenge in robotics and human‐machine interaction. Inspired by the division of human hand function, we present a monolithic cross‐talk‐free gripper system with photo‐thermal‐driven soft fingers and a tactile‐perceiving palm. It achieves physical decoupling of electro‐tactile sensing and photo‐thermal actuation through a structurally partitioned, biomimetic design. The central sensor and surrounding actuators are fabricated via patternable screen printing on a single matrix to form a bilayered film. The constructed tactile sensor has a wide pressure range of 0–2500 kPa, a 5 ms response time, and over 40 000 cycle durability. The bilayer actuator is multi‐responsive to light, heat, and humidity, showing biomimicry and programmability. The strip actuator can bend 360° and lift 209 × its weight under infrared heat. Assisted by a 1D convolutional neural network, the gripper system can recognize objects in real‐time and then perform closed‐loop feedback grasping of specific objects under light irradiation. This work presents a facile and sustainable approach to creating intelligent, integrated soft robotic systems.

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