To whom correspondence should be addressed; E-mail: kaushik.jayaram@colorado.edu. Keywords: tactile sensor, capacitive sensing and robophysical antenna Abstract: The American cockroach ( Periplaneta americana) uses its soft antennae to guide decision making by extracting rich tactile information from tens of thousands of distributed mechanosensors. Although tactile sensors enable robust, autonomous perception and navigation in natural systems, replicating these capabilities in insect-scale robots remains challenging due to stringent size, weight, and power constraints that limit existing sensor technologies. To overcome these limitations, we introduce CITRAS (Cockroach Inspired Tactile Robotic Antenna Sensor), a bioinspired, multi-segmented, compliant laminate sensor with embedded capacitive angle sensors. The segmented compliant structure passively bends in response to environmental stimuli, achieving accurate hinge angle measurements with maximum errors of just 0.79 Experimental evaluations demonstrate CITRAS' multifunctional tactile perception capabilities: predicting base-to-tip distances with 7 .75 The future integration of this bioinspired tactile antenna in insect-scale robots addresses critical sensing gaps, promising enhanced autonomous exploration, obstacle avoidance, and environmental mapping in complex, confined environments. For instance, drawing inspiration from the compliant exoskeletons of arthropods, recent miniature robots are now capable of adaptive morphological changes, enabling unprecedented locomotion in confined spaces [8]. Notable examples include shape-morphing robots such as CLARI [9] and its miniature variant mCLARI [10], capable of lateral body compression to navigate narrow horizontal gaps. Such small-scale robots offer new opportunities for robotics, including environmental monitoring [11], high-value asset inspection [12], search-and-rescue operations [13], and targeted healthcare delivery [14]. Despite these advances, reliable autonomous operation remains elusive due to severe size, weight, and power (SWAP) constraints, significantly limiting onboard sensing and perception capabilities.

They might actually detect and avoid objects better, says Andres Arrieta, an assistant professor of mechanical engineering at Purdue University, because they would process sensory information faster. Better sensing capabilities would make it possible for drones to navigate in dangerous environments and for cars to prevent accidents caused by human error. Current state-of-the-art sensor technology doesn't process data fast enough -- but nature does. And researchers wouldn't have to create a radioactive spider to give autonomous machines superhero sensing abilities. Instead, Purdue researchers have built sensors inspired by spiders, bats, birds and other animals, whose actual spidey senses are nerve endings linked to special neurons called mechanoreceptors.