Graphene-Enhanced Robotic Touch Sensors with Tunable Sensitivity for Advanced Automation Applications

We propose and theoretically analyze a novel graphene-integrated multi-functional touch sensor for advanced robotic applications operating at ambient conditions. The device architecture leverages tunable electronic properties of graphene operating near its carrier mobility transition point to significantly enhance the pressure and temperature sensitivity in carefully engineered flexible polymer substrates. Through electrostatic gating, the graphene Fermi level can be precisely controlled to maximize sensing capabilities across different pressure ranges (0.1-100 kPa) and temperature conditions (0-60°C). Our simulations demonstrate a peak pressure sensitivity of 2.85 kPa⁻¹ when the graphene is tuned to its optimal condition (corresponding to a chemical potential of 0.46 eV), significantly exceeding conventional piezoresistive sensors. The device achieves a response time below 5 ms and minimal hysteresis (less than 3%) at room temperature, with a durability exceeding 10,000 sensing cycles for a sensor area of 3 mm². The combination of high sensitivity, room-temperature operation, and parameter tunability makes this sensor architecture particularly suitable for applications in soft robotics, human-robot interaction, medical robotics, and industrial automation. Compared to conventional robotic touch sensors, our proposed structure demonstrates superior performance metrics while enabling electrical selection of the sensing mode, establishing a promising platform for next-generation robotic sensing technologies.