Bioinspired Hard‐Soft Hybrid Skin for Durable Vision‐Based Tactile Sensing and Sliding Perception

Vision‐based tactile sensors are promising for robotic perception but suffer from poor durability and limited sensitivity to fine textures and slip. To overcome these limitations, we propose a bioinspired hard‐soft hybrid tactile skin that combines rigid polydimethylsiloxane (PDMS)/SiO 2 microcolumns with a compliant PDMS film to simultaneously improve durability and tactile perception. The rigid microcolumns serve as a wear‐resistant contact interface while enhancing surface‐induced tactile vibrations, whereas the compliant film ensures efficient transmission of contact forces. Material wear tests show the composite achieves a 76.5% reduction in wear depth, with post‐wear roughness only 3.8% of pure PDMS. The sensor maintains stable sensing performance after 210,000 loading cycles, with only 4.0% signal drift during the final 10,000 cycles, representing more than an order‐of‐magnitude improvement in lifetime compared with previously reported vision‐based tactile sensors. Furthermore, the microcolumn‐structured sensor enables high‐sensitivity slip detection by exploiting a transient peak at slip initiation and facilitates accurate recognition of texture periodicity and orientation via frequency‐domain analysis. This work presents a bioinspired hard‐soft hybrid design strategy for developing durable vision‐based tactile sensors with physically interpretable multimodal perception for long‐term robotic interaction.