A weakly electric fish-inspired flexible multifunctional proximity sensor for high-sensitivity and environmentally adaptive perception

Proximity sensors are essential for enabling non-contact pre-perception in robots and intelligent human-robot interaction. However, they are often limited by insufficient sensitivity and single functionality. Herein, a weakly electric fish-inspired flexible multifunctional proximity sensor is proposed to achieve high-sensitivity and environmentally adaptive perception. The sensing element is constructed using a flexible multilayer architecture based on AgNWs-WPU composite films, combined with a multi-capacitance coupling network and grounded shielding configuration to enhance weak electric field signal acquisition. To mitigate environmental interference, a dynamic frequency-adaptive strategy is further introduced, achieving a proximity sensing sensitivity of 0.212 mm^-1 and a wide detection range of 0.5-200 mm. Based on this configuration, non-contact three-dimensional spatial localization and real-time trajectory tracking are demonstrated, and multi-attribute detection of target objects including size, material and shape is realized with a recognition accuracy exceeding 92%. In addition, integration with a robotic manipulator further demonstrates effective collision warning and active obstacle avoidance. This work advances active electric-field-based proximity sensing through the integration of a flexible five-channel sensing architecture and adaptive electromagnetic-noise suppression, offering a promising engineering strategy for robust non-contact perception in intelligent robotic systems.