Science Robotics

The PDF file includes:

• Note S1. Theoretical analysis of thermal conductivity sensing mechanism.
• Note S2. Theoretical analysis of pressure sensing mechanism.
• Note S3. Temperature measurement principle by cold film.
• Note S4. Temperature and bending compensation method.
• Note S5. Garbage sorting with unseen objects.
• Fig. S1. Spherical shell model and CTD conditioning circuit.
• Fig. S2. Finite element method (FEM) simulation of porous material under different pressure.
• Fig. S3. Results for garbage sorting with unseen objects.
• Fig. S4. Composition of sensing layer and porous material, fabrication process, and sensor performance characterization platform schematic.
• Fig. S5. The schematic of the sensor signals conditioning circuit.
• Fig. S6. Temperature effects on material thermal conductivity and pressure detections of the quadruple tactile sensor.
• Fig. S7. Quadruple tactile sensor repeatability and durability test and step response of pressure sensing.
• Fig. S8. The objects used in the recognition experiment and more signal map examples.
• Fig. S9. MLP optimization.
• Fig. S10. Optimizing results of the MLP model with different neurons number.
• Fig. S11. Optimizing results of the MLP model with different hidden layers number.
• Fig. S12. The garbage used in the garbage sorting experiment and more signal map examples.
• Table S1. Thermal conductivities of the materials used in the experiment.
• Table S2. Temperature coefficient resistances (TCRs) of hot films and cold films of all quadruple tactile sensors used to the humanoid robot hand.
• Legends for movies S1 to S5
• References (35–37)

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Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). Summary of the robot hand with quadruple tactile sensors.
• Movie S2 (.mp4 format). Robot hand with quadruple tactile sensors grabs and identifies object size, shape, and material in real time, respectively.
• Movie S3 (.mp4 format). Robot hand with quadruple tactile sensors grabs and identifies human hand and object with different orientations in real time.
• Movie S4 (.mp4 format). Robot hand with quadruple tactile sensors continuously and intelligently identify whether a grip is the set target.
• Movie S5 (.mp4 format). Robot hand with quadruple tactile sensors is used for garbage classification tasks.