There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate handling. This work introduces the COmpliant Porous-Elastic Soft Sensing (COPESS) integrated with inductive sensors for adaptive object manipulation and localised sensing. The design features a tunable lattice layer that simultaneously modulates mechanical compliance and sensing performance. By adjusting lattice geometry, both stiffness and sensor response can be tailored to handle objects with varying mechanical properties. Experiments demonstrate that by easily adjusting one parameter, the lattice density, from 7 % to 20 %, it is possible to significantly alter the sensitivity and operational force range (about -23x and 9x, respectively). This approach establishes a blueprint for creating adaptive, sensorized surfaces where mechanical and sensory properties are co-optimized, enabling passive, yet programmable, delicate manipulation.

翻译：当前对能够轻柔、精确处理各类物体的软体机器人平台的需求日益增长。然而，现有的表面操控系统缺乏精细操作所需的顺应性与触觉反馈。本研究提出了一种集成感应传感器的顺应性多孔弹性软体传感（COPESS）系统，用于自适应物体操控与局部感知。该设计采用可调谐晶格层，可同时调控机械顺应性与传感性能。通过调整晶格几何结构，可定制化设计刚度与传感器响应，以处理具有不同机械特性的物体。实验表明，通过简单调节晶格密度这一参数（从7%调整至20%），能够显著改变系统灵敏度与操作力范围（分别提升约23倍与9倍）。该方法为创建机械特性与传感性能协同优化的自适应传感表面提供了技术蓝图，实现了被动式但可编程的精细操控。