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Page 28 of 39 Yang et al. Soft Sci. 2025, 5, 46 https://dx.doi.org/10.20517/ss.2025.44

Figure 11. (A) Design and fabrication of the BSOS sensor (a), definition of robotic arm control rules based on the BSOS sensor output
[52]
signal (b), and HMI demonstration of the finger-driven robotic arm for precise handling of paper cups (c) . Copyright 2022, American
Chemical Society; (B) Schematic illustration of the tactile sensor (a), real-time response recorded from different finger sensors for
grasping and releasing a tennis ball under various gestures (b), intelligent robotics integrated with tactile sensors to perceive material
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hardness, roughness, and shape of objects (c-e) . Copyright 2023, Wiley; (C) Schematic diagram of the OFN sensing system (a), finite
element simulation of strain distribution in OFN sensors under stress (b-d), exploded diagram of the robotic tactile finger (e), and the
tri-axial force sensing signals and snapshots during the cutting experiment and the unlocking experiment, respectively (f and g) [53] .
Copyright 2023, Opto-Electronic Journals Group. BSOS: Bioinspired stretchable optical fiber-based sensor; HMI: human–machine
interaction; OFN: optical fiber knot.

customized detection algorithms. By utilizing the advantages of both optical and electrical dual modes,
Shang et al. developed a dual-mode haptic sensor that enables the detection of slippage as well as
[228]
instantaneous adjustment of the clamping force . In this study, a microstructured piezoresistive layer was
constructed for static pressure sensing, and a triboelectrification-induced electroluminescence (TIEL) layer
was constructed for dynamic sensing of the sliding force.