Robotic Palpation for Spatiotemporal Arterial Pulse Quantification and Mapping Using Multilevel Microdome‐Based Soft Pressure Sensors

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ABSTRACT Humanoid robots have advanced capabilities through physical and physiological examinations, but their reliance on visual information limits biological‐object assessment, underscoring the need for tactile perception. Current tactile systems primarily detect basic contact using a limited number of sensors, hindering accurate soft‐object localization and physiological signal acquisition. This study introduces a robotic palpation strategy by utilizing a fully soft‐tactile‐sensor‐integrated humanoid hand for real‐time spatiotemporal arterial pulse diagnosis. A facile fabrication technique produces an artificial pressure‐sensitive layer with multilevel microscale dome‐on‐dome (DoD) structures using eutectic gallium‐indium, achieving high‐density (>72 500 ea/cm 2 ) and large‐area (wafer‐scale >98% yield) fabrication. The DoD‐integrated pressure sensor exhibits a 7.5 × enhanced dynamic response compared with a single‐level sensing layer, enabling the simultaneous detection of subtle vibrations under high‐pressure conditions. The artificial skin is integrated into a humanoid hand, featuring 81 sensors on the fingertip and a total of 801 sensors on the hand, allowing real‐time spatiotemporal arterial pulse quantification and mapping.

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