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Research on Interaction State Recognition for Gecko-Inspired Adhesive Interfaces for On-Orbit Servicing

A study embeds capacitive sensing into a gecko-inspired dry adhesive interface to recognize five interaction states in real time during on-orbit servicing grasps (idle, proximity, contact, engaged, disaged). Random Forest achieved 95.65% offline classification accuracy; online, combined with a rule-based state machine, accuracy rose from 78.02% to 93.14%, with a macro F1 of 0.9343 and an inference cycle of 53 ms.

Part of the event: Real-time recognition of five interaction states achieved with gecko-inspired adhesive interface

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