2025 Robot Dexterous Hand Industry Research

2025 Robot Dexterous Hand Industry Research: The Core Hardware Module of Robot External Interaction, New Changes Breed New Opportunities 1 The dexterous hand is an independent hardware module with "all five organs", which pursues the improvement of dexterity, strength and accuracy under certain boundary conditions 1.1 The dexterous hand is an important window for humanoid robots to interact with the outside world, including three subdivision modules of drive/transmission/perception The dexterous hand is a sub-category of end effector, which has more advantages in terms of easy availability of training data and environmental adaptability, and is an important part of humanoid robots. The dexterous hand is a typical gripper type end effector, its shape and function are similar to the human hand, can carry out grasping, pinching and other delicate and diverse operations, is an important window for humanoid robots to achieve better interaction with the external environment. Hand is an important channel for human interaction with the outside world, human life, working environment are based on the characteristics of human hand and construction correspondingly, so similar to the human hand dexterous hand architecture can use the motion capture of the human hand motion data for imitation learning, reinforcement learning and other training, so that in the long term in the face of different environments, different objects have stronger generalization, adaptability, than grippers, non-humanoid dexterous hands and other end effectors have stronger environmental adaptability. The hardware module of the dexterous hand consists of three parts: the drive system, the transmission system and the perception system. The core function of the drive system is to generate motion and force, and the transmission system conducts the motion and force from the drive system to the various joints of the dexterous hand, and the perception system provides the internal operating state of the dexterous hand and the external environment perception feedback. According to the specific needs of different application scenarios, there are many different solutions in terms of drive structure, drive scheme, transmission components, etc. 1.2 Dexterity pursues the improvement of "dexterity, grip and precision" under certain boundary conditions The dexterous hand was born in the 70s of the last century, and is developing towards multi-degree-of-freedom, integration, and biomimicry. The concept of dexterous hands was born in the 70s of the 20th century, and with the development of computer technology and other fields, it has continued to iterate in the direction of integration, intelligence, and dexterity. The dexterous hand is widely used and has been applied in medical, aerospace, industrial and other fields. After the 1970s, the concept of the dexterous hand emerged with the development of the industrial sector: the Okada, the dexterous hand introduced by Nippon Denko Laboratory in 1974, was the first dexterous hand in the modern sense, equipped with 3 fingers, 11 degrees of freedom, and capable of continuous grasping movements. MIT's Utah/MIT in 1983 and Stanford's Stanford/JPL in 1984 were designed with a modular structure with identical fingers and increased flexibility, paving the way for future dexterous hand development. After the 1990s, the dexterous hand drive, control, and perception capabilities were improved, and the integrated development was developed: the improvement of computer technology provided the possibility for the improvement of the signal processing ability and the computing ability of the control algorithm of the dexterous hand, and the dexterous hand developed towards integrated design. During this period, new models such as UB-II Hand, DLR-I Hand, DISTHand, BH3Hand and emerged one after another. After the 2000s, the dexterous hand continued to iterate and improve its performance: DLR-II Hand was launched by DLR-I Hand on the basis of DLR-I Hand, which has been further optimized in its drive-drive system, increasing the fingertip output from 10N to 30N, and has the characteristics of high integration and multi-sensor, mainly for the home and aerospace fields. Harbin Institute of Technology and DLR-I Hand jointly launched the HIT/DLR-I Hand, which adopts the transmission scheme of disc motor drive and harmonic reducer + toothed belt. The underlying logic of the hardware architecture of the dexterous hand lies in the pursuit of the improvement of "dexterity, grip and precision" under the boundary conditions of small size/weight, low cost, durability and reliability. Unlike generalpurpose automation components, the hardware design and manufacturing of humanoid robot drives needs to accommodate the integration needs and power density requirements in a small space. Combined with factors such as application scenarios and external interaction, we believe that the core of the hardware architecture selection of Dexterous Hand lies in the pursuit of dexterity, grip and accuracy under the boundary conditions of small volume & weight, low cost, reliability and durability. Under the conditions of existing hardware technology, the requirements of [dexterity, grip strength, and precision] are often mutually exclusive, and they need to be comprehensively considered according to factors such as application scenarios and long-term optimization space. 1.3 Tesla's program evolution: increasing the degree of freedom and sensing units is the trend, and the latest dexterous hand has basically the same degree of freedom as the human hand Anatomically, the human hand is made up of 27 bones, divided into carpal bones, metacarpal bones, and phalanges: Carpal bones (CMC): Composed of 8 bones, they are responsible for the overall movement of the palms and fingers. Metacarpal Bone (MCP): Consists of 5 bones that connect the carpal and phalanges to provide support for grasping objects. Phalanges (IP): Composed of 14 bones (thumb*2 + each of the other four fingers*4), they are responsible for grasping objects and making gestures, and are the most important and complex part of the human hand. The total number of human hands consists of 24 degrees of freedom, of which the thumb, index finger, and middle finger are of the highest importance. In terms of degrees of freedom, the human hand has a total of 24 degrees of freedom, of which the other four fingers except the thumb each have 4 degrees of freedom (bending/stretching*3 + abduction/alignment*1), the thumb has 5 degrees of freedom (bending/extension*2 + abduction/close-up*1 + metacarpal joint/rotation*2), the palm has 1 degree of freedom (abduction/integration*1), and the total abduction and curvature of the wrist are 2 degrees of freedom. According to the "Research on the Design, Development and Application of High Bionic Performance Prostheses", power grasping, fine pinching, and side pinching account for 85% of the common movements of the human hand, so the thumb, index finger and middle finger are of high importance, and more degrees of freedom should be allocated in the design of dexterous hands. Tesla Optimus is currently the global benchmark in the humanoid robot industry, and through the review, it is known that its dexterous hand has undergone multiple rounds of architecture adjustment, and the core main line is to increase the degree of freedom and increase the perception ability, thus bringing about changes in the hardware structure: The GEN1 scheme realizes "from 0 to 1", using the classic one-handed 6 actuator 11 degrees of freedom architecture. According to TESLA AI DAY 2022, the Optimus-Gen1 dexterous hand adopts an underdrive architecture (11 degrees of freedom in one hand, 6 actuators), in which the thumb uses 2 actuators for bending/extension and abduction/adduction movements, and the nonthumb fingers use 1 actuator for each of the four fingers, and the five finger end joints are not equipped with actuators for coupling follow-up. The actuator scheme is [coreless motor-worm gear and worm-tendon rope]. With the use of worm gears, it has the characteristics of anti-reverse drive. The GEN2 solution adds a "finger tactile sensor". According to Tesla's official media in December 2023, the Optimus Gen2 dexterous hand adds a tactile sensor to the finger part on the basis of Gen1, so as to make significant progress in the consistency and fineness of the operation, and you can pinch the egg with your thumb and fingers. The GEN3 solution integrates the actuator into the forearm, doubling the degree of freedom to 22 while the hand volume is approximately unchanged, and the amount of brushless motor is significantly increased, making tendon ropes a rigid need. After the end of the We Robot conference in October 2024, Tesla exhibited the Gen3 dexterous hand, which has 22 degrees of freedom (five fingers*4 degrees of freedom + one opposite metacarpal joint at the base of the thumb/little finger), combined with the principle of kinematics, we judge that one hand or 17 actuators are used, so as to have stronger flexibility, and the degree of freedom is basically close to the level of human hands. In terms of subdivision hardware architecture, it is expected that there may be the following changes: Drive & Transmission Module: [Motor + Lead Screw] or [Motor + Reducer + Lead Screw] scheme is adopted and integrated into the forearm, so as to reserve more space for the hand, in this context, the volume disadvantage of the brushless motor with more cost advantages is narrowed, and the amount of use in the hand is significantly increased. Wherein the worm is replaced by a lead screw with higher load, positioning accuracy. Due to the external solution, tendon ropes are widely used. Perception module: According to Tesla's official media, the Optimus robot catches the flying tennis ball with the blessing of the Gen3 dexterous hand, and we expect that the palm may add a pressure sensor to improve the grip stability. Under the mass production of one million units, the market size of dexterous hands may exceed 40 billion yuan, driving the growth of demand for various subdivisions. According to Tesla's 24Q4 earnings meeting, the internal plan is to mass produce 10,000 units in 25 years and deliver them to the outside world in 26H2, and the production capacity will continue to advance at a pace of 1,000 units/month-10,000 units/month-100,000 units/month, and the cost per person is expected to be less than $20,000 in the context of million unit sales. We believe that humanoid robots are gradually moving towards mass production, and the cost of each component will be significantly reduced under the optimization of scale effect superimposed technology. Assuming that the Optimus Gen3 dexterous hand uses 17 motors/lead screws and 34 tendon ropes, we preliminarily estimate that the market space for dexterous hands under the output of one million units is 42.8 billion yuan, of which the corresponding scale of motors and lead screws exceeds 10 billion yuan. 2. Drive system: the electric drive scheme is the mainstream, and the coreless motor and brushless cogging motor may be the main choice The drive system is the source of power, produces motion and force, and there are different technical routes in the aspects such as drive structure, placement mode, scheme selection, etc., but the current scheme basically adopts the motor scheme under the underdrive. In terms of motor selection, the optional solutions include brushless DC motors, coreless motors and frameless torque motors, which need to be configured accordingly according to the needs of different scenarios. 2.1 Drive structure: It can be divided into full drive/underdrive structure, and the underdrive scheme is more widely used According to the relationship between the degree of freedom and the number of drive sources, the dexterous hand drive structure can be divided into full drive and underdrive: The number of driving sources of the full drive dexterous hand is equal to the degree of freedom, and the operation is more delicate, but there are disadvantages in volume, weight, and cost: all the joints of the full drive dexterous hand are individually configured with the driver, and each finger joint can be controlled independently, and the whole hand has a stronger ability to fine operate. However, under the full drive structure, the amount of hardware components such as the driver is larger, and the overall cost is higher, the structure is complex, and the volume is larger. The number of drive sources of the under-driven dexterous hand is less than the degree of freedom, and the better volume, weight, and cost are achieved at the expense of control accuracy, and the application is more extensive: the under-driven dexterous hand has some joints that are not equipped with actuators (mostly located at the end of the fingers) to carry out coupling follow-up. There are few drivers under this structure, and the volume is correspondingly smaller under the simple structure, and the cost is also lower, and the grasping envelope is good. But correspondingly, the control accuracy of the under-driven dexterous hand is also lower. 2.2 Placement: external, mixed or short-term solution According to the difference in the installation position of the drive system, it can be divided into: external, built-in, and mixed. Under the existing motor technology, the increase in the number of actuators under the built-in scheme often corresponds to the increase in the weight and volume of the dexterous hand, so we believe that in the short term, external and hybrid may be the best solution, but in the future, with the new technological changes in the drive/transmission system, the built-in system also has a broad space for development. External is the main scheme in the early stage, but there are problems such as difficult control and difficult maintenance: under the external scheme, the drive system is installed outside the dexterous hand, and the drive source and the finger end need to be connected with a tendon rope, the dexterous hand body can be made smaller, and the motor with larger volume and torque is adopted, but the sensor is difficult to directly measure the hand state, and the non-modular design also leads to the difficulty of later maintenance. The built-in is gradually applied with the development of technology, but under the trend of increasing the degree of freedom, it may lead to the increase of hand volume and weight: that is, the drive system is installed inside the dexterous hand, which solves the series of problems existing externally, but the volume and weight of the hand are improved. The hybrid combination combines the advantages of internal and external solutions, but still needs to use tendon cable transmission: the drive system is installed in the body and forearm, and in this mode it can combine the advantages of internal and external to increase the output torque of the fingers while reducing the volume of the body, but because some actuators are far away from the joint, it is still necessary to use tendon rope transmission. 2.3 Solution selection: The motor drive is more in line with the needs of dexterous hands, which is the current mainstream solution Motor drive is the most widely used solution at the current point in time: motor drive generates force/torque through the motor, and conducts the force directly or through the transmission mechanism to the joint to promote its movement. Under the background of increasing electrification rate, electric energy acquisition and storage is relatively easy and the electricalforce conversion technology is relatively mature, and the motor has the advantages of stable output torque, high precision, rapid response, and small size, which is the optimal drive scheme at the current point in time, and mainstream OEMs including Tesla, Figure, and Zhiyuan have adopted the motor drive scheme. In view of the first principles of humanoid robots, motors may develop in the direction of weight reduction and power density improvement in the future. There are certain disadvantages in the accuracy, stability and volume of the air pressure drive: the air pressure drive uses the pressure difference generated by the compressed air as the power source, which has the advantages of low cost, easy operation, rapid response and strong flexibility, but the air pressure is affected by factors such as temperature and altitude, so the accuracy and stability are relatively limited, and the large-volume architecture under the scheme is not conducive to the long-term integrated development. The output torque of the hydraulic drive is large, but it is also limited in terms of accuracy and volume: the hydraulic drive is driven by the static pressure of the liquid medium as the power source, and the output torque is large. However, it has disadvantages in terms of volume, stability, liquid leakage/post-maintenance, etc. Shape memory alloy (SMA) drive is an emerging technology route, which is relatively rarely used in dexterous hands: this scheme affects the shape and mechanical properties of SMA by changing the temperature, among which nickel-titanium memory alloy material is the most widely used. It has the characteristics of large displacement, high power-to-weight ratio, and high directional flexibility, but it is limited in terms of cost and life, and is more suitable for high-speed/highprecision/small-load assembly scenarios. 2.4 Motor selection: Options include brushless DC motors, coreless motors and frameless torque motors The motor solutions for dexterous hands mainly include brushless DC motors, coreless motors and frameless torque motors. The brushless DC motor has a better service life and cost, but the response speed is slow and the volume is large, which is suitable for scenarios with high power density and high load: its rotor structure is more stable, so it has more advantages in stability and life, but its moment of inertia is higher, so the response speed is slower than that of the coreless motor. The core advantage of coreless motor is in fast response, high energy conversion efficiency, but there are disadvantages in cost and output torque, suitable for fast response, high space/energy consumption requirements, is the main choice of the current robot electric drive scheme: it is a kind of micro servo DC motor, its biggest feature is the use of ironless rotor, eliminate the impact of electric energy loss caused by the formation of eddy current in the core, and at the same time, the weight, moment of inertia is significantly smaller, and has advantages in response speed, power-to-volume ratio, running accuracy, efficiency, energy The conversion efficiency is generally over 85%. However, there are disadvantages in terms of output torque compared with the other two schemes, so planetary gearbox is often needed to increase torque, and its cup winding process is complex, and there are disadvantages in product yield and cost. Frameless torque motor: It can be directly coupled, and can drive the load without gears and other transmission devices, which has the advantages of low speed and large torque, and has a certain cost advantage over coreless motors. 3. Transmission system: tendon rope is the mainstream scheme, and the process of micro lead screw and micro harmonic industry is accelerated The transmission system conducts movement and force from the drive system to the joints of the dexterous hand, and plays an important role in the stability, precision and flexibility of the dexterous hand. Conventional systems can be divided into three levels according to the transmission level. Among them, the first-stage transmission is mainly used to enhance torque and improve accuracy, and is mainly used for worm gear and reducer; Secondary transmission includes gears, lead screws, etc.; The three-stage drive is used to connect the end of the joint with the drive system, including tendon ropes, connecting rods, etc. The transmission system is quite different, and it is expected that the tendon rope may be the main solution in the future, and the micro lead screw and micro harmonic reducer are expected to be widely used with the maturity of the technology. Gears, connecting rods, tendon rope for the traditional transmission mode, dexterous hands in the early widely used gears, connecting rods as transmission mechanism, but both have the problem of large volume/weight, poor flexibility, etc., tendon rope has become the current mainstream scheme. The micro lead screw and micro harmonic reducer are emerging transmission structures, which have their own advantages in terms of accuracy and bearing capacity, and are widely used after promoting cost reduction with the maturity of the industry. 3.1 Gear/connecting rod transmission: The traditional transmission scheme has problems such as weight/volume Gear transmission has the advantages of stability, accuracy and life, but the weight and cost are high. The principle is to turn the motor rotation into linear motion through gear transmission, and then drive finger movement by pulling the spring, which is widely used in industrial robots and other fields. It has the advantages of high precision, strong stability and high service life, but the complex structure makes the weight and cost higher. According to different tooth shapes, gears can be divided into spur gears, bevel gears and turbines, among which spur gears are the most widely used and easiest to install, which can achieve a large reduction ratio and torque ratio; Bevel gear can change the direction of transmission, and has the advantages of stable transmission, low noise and strong bearing capacity; The core advantage of the turbine is that it achieves a large kinematic ratio in the smallest space and is self-locking. The connecting rod grabs faster and has a large bearing capacity, but the structure is complex and the degree of flexibility is low. The components include straight drive and coupling links, as well as return springs, which transmit force and motion in parallel by connecting multiple links in series, and are used in both industrial and commercial (e.g. prosthetics). Since the transmission part is a connecting rod, it has strong rigidity, and also has the advantages of fast grasping speed. However, its structure is complex and its flexibility is insufficient. 3.2 Tendon rope transmission: an inevitable choice under the trend of multiple degrees of freedom, it is expected to be widely used with the improvement of material properties The tendon rope has the advantages of long-distance transmission, flexibility and flexibility, and can reserve more space for sensors and other components, and is the transmission scheme that is currently more widely used, but there is still a large room for improvement in terms of life, load, accuracy, etc., or with other transmission mechanisms to achieve a better comprehensive effect. In tendon rope transmission, motor rotation motion is turned into linear motion by lead screw, and tendon rope pulls the lead screw nut one section, and the other end is connected dexterous hand finger, so that the finger rotates around the joint axis. Under the tendon rope drive scheme, the driver and the actuator can maintain a long distance, reduce the load and inertia at the end of the actuator, and the flexibility of finger movement is better. In addition, the tendon rope can be used in conjunction with other transmission schemes such as lead screws and worm gears to achieve multidegree-of-freedom movement in a small space. However, the tendon rope has a large room for improvement in terms of load, execution accuracy, life, etc., and the preload is unstable. Dexterous tendon rope materials mainly include polymer materials and stainless steel materials: Polymer materials (ultrahigh molecular weight polyethylene fiber/UHMWPE) have relatively strong comprehensive properties and are more widely used, but the cost is relatively high. These include Dyneema and Spectra, which offer long life (high strength, wear/corrosion resistance) and low weight, but are expensive and prone to deformation. Leading material suppliers include DSM in the Netherlands, Honeywell in the U.S., and more. The performance of stainless steel materials is relatively weak, and it is expected to be widely used in the field of robots after the technical process is improved. Historically, the cost of stainless steel tendon rope was relatively low, but there were defects such as low life and poor safety, and the application in dexterous hands was relatively rare. The manufacturers represented by Daye are actively developing special steel wire materials characterized by ultra-high strength, ultra-high torsion and ultra-high extension, which are expected to be widely used in dexterous hands. 3.3 Lead screw/reducer transmission: a new direction of hand transmission, and the industrial process continues to advance Planetary roller screws have the advantages of high load, high precision, long life, and small size, which are very suitable for the application of humanoid robots, but the demand for cost reduction is urgent. According to the different sliding modes, the lead screw can be divided into trapezoidal lead screw, ball screw, planetary roller screw, wherein planetary roller screw places a plurality of planetary rollers around the main lead screw, significantly improves the stress area in the operation process, so it has the advantages of high load, high precision, high efficiency, high reliability, small size, etc., and is widely used in the space-compact humanoid robot. However, its industrialization process still needs to be promoted, and it needs to be optimized in terms of production efficiency and cost. In recent years, manufacturers such as Best, Beite Technology, Wuzhou Xinchun, and Shuanglin Co., Ltd. have actively laid out the lead screw business and accelerated their industrialization. The micro harmonic reducer has high accuracy and large reduction ratio (which can help increase the output torque), but the technical maturity is relatively low, and the industry leaders have entered the game. Compared with gears, planetary reducers and other solutions, its high precision, small size, large reduction ratio, but the technical maturity is relatively low, and the industry needs to further mature to achieve cost reduction. On the margin, Harmony and other harmonic reducer leaders such as Harmony and Green Harmonic are actively increasing the research and development of micro harmonic reducers, and Green Harmonic has launched a 6mm outer diameter harmonic reducer for finger joints; At the Tokyo International Robot Show 2023, Harmanaco showcased a dexterous hand solution with a miniature harmonic reducer as low as 5mm in diameter. 4. Perception system: an important foundation for the intelligence of dexterous hands, and the development of the industry has entered the fast lane The perception system is an important bridge for dexterous hands to contact external environmental information, helping robots to make better actions and develop towards multi-regional/flexible and multi-modal. According to the division of perception area, dexterous hand sensors can be divided into internal sensors and external sensors: Internal sensors are used to sense the state of the dexterous hand itself, including torque/position/bend sensors. Torque sensor is used to sense joint torque for more precise control of the gripping force; The position sensor mostly adopts encoder and Hall effect sensor; The bending sensor is used to sense the angle of rotation of the joint, improving the control accuracy of dexterous hand movements. External sensors are used to perceive the environment, including proximity/tactile sensors. Proximity sensors are used to sense the relative position of an object to a dexterous hand before touching it, while tactile sensors are used to sense information such as reaction force, texture, temperature, etc. 4.1 Force sensor: The technology is gradually maturing, and it is mostly used for fingertips, wrists, etc Force sensors help improve the accuracy of force control, which can be divided into one to six dimensional force sensors. The force sensor is used to convert the measured torque into an electrical signal, which can sense the tension, pressure, weight, torque and other mechanical quantities, and improve the accuracy of force control. According to the number of measurement directions, they can be divided into one to six dimensional force transducers. Among them, the six-dimensional force sensor can measure three axial forces and three axial moments at the same time, with the best performance but the preparation barrier and the highest price, and is mostly used at the wrist and ankle in the humanoid robot, while the onedimensional force sensor is mostly used at the internal joints. Six-dimensional force sensors are widely used in automobiles, aerospace and other fields, which can provide more accurate force sensing information for robots and improve their compliance control level. A force transducer is a device that converts the value of a force into an electrical signal. According to the different sensing elements, the sensor can be divided into strain gauge / optical / piezoelectric / capacitive force sensor, the current market mainly applies the strain gauge scheme, and other schemes have a certain theoretical research, but has not been widely used. The six-dimensional force sensor has the highest barrier and the best performance. At present, sixdimensional force/torque sensors are mainly used in robots, automobiles, aerospace, biomedical and other fields. The sixdimensional force/torque sensor may be applied to the hands and feet of the humanoid robot to provide force sensing information for the force control and motion control of the robot, helping it to improve the level of flexible and intelligent control. From the perspective of long-term dimension, with the iterative optimization of algorithms, there may be some differences in the amount of six-dimensional force sensors in humanoid robots, but we believe that in the short term, sixdimensional force sensors will still be an important part of robots. The scale of China's six-dimensional force sensor market is small, and it may maintain high growth in the future. According to GGII, in 2022, the market size of China's six-dimensional force/torque sensor will increase by 52% year-on-year to 239 million yuan, of which the demand scale from robots will reach 156 million yuan. In the future, with the expansion of application fields and the increase of entrants, it is expected that by 2027, China's six-dimensional force/torque sensor market will increase to more than 1.5 billion yuan at a CAGR of more than 45%, and the product matrix and unit price may be further optimized. The six-dimensional force sensor has high barriers, which is mainly dominated by overseas, and domestic enterprises such as Kunwei Technology are actively developing. Limited by high barriers, the current six-dimensional force/torque sensor market is still dominated by overseas companies such as ATI and ROBOTOUS, and there are fewer domestic enterprises with batch product supply, including Kunwei Technology, Xin Jingcheng, Yuli Instrument, Blue Dot Touch, Hypersen, Haozhi Electromechanical, etc. Among them, Yuli products are mainly used in robot grinding and polishing, automotive crash testing and other fields, Kunwei Technology has advantages in collaborative robots, medical surgical robots, aerospace and other fields, Xin Jingcheng promotes its products to 3C as an Apple supply chain, and also has a layout in the robot and medical industry. Other listed companies, such as Keli Sensing and Donghua Testing, are also actively promoting the process of R&D and customer sample delivery by virtue of their technical accumulation. 4.2 Tactile sensors: A small number of applications have been made, and the industrial process has entered the fast lane From the perspective of versatility and biomimicry, the e-skin may be the ultimate solution for robotic haptics. Flexible tactile sensors are made of flexible materials, with good ductility, flexibility, and various structural forms, and have good application prospects in medical electronics, robots, 3C and other fields. According to the difference in perception principle, flexible tactile sensors can be divided into capacitive/piezoresistive/photoelectric/piezoelectric/magnetic/ultrasonic sensors, among which capacitive/piezoresistive/piezoelectric sensors are widely used. The e-skin can realize multi-functional sensing capabilities such as temperature, humidity, and pressure, and is an "upgraded version" of tactile sensors. In the promotional video of Tesla's second-generation Optimus robot, its dexterous hands are equipped with tactile sensors to pinching eggs with precision. In the future, the Optimus robot may be equipped with electronic skin for better perceptual interaction on the fingers, face and other parts. Domestic and foreign enterprises and universities are actively carrying out research related to electronic skin, and its industrialization process may enter the fast lane. According to the official account of Hanwei Technology, it is estimated that the global flexible sensor market will grow at a compound annual growth rate of 6.8% from 2021 to 2028, reaching $8.47 billion in 2028. At present, MIT, Tsinghua University and other scientific research institutions are actively carrying out relevant research on flexible sensors and electronic skins.