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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ws9cbe81ylvbggk4fruatzgjj
- Original: https://arxiv.org/abs/2610.27141

## Summary

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.