The invention belongs to the technical field of sensors, and provides a multi-mode
tactile sensor, a multi-mode sensing composite
robot system and a multi-mode sensing method wherein the multi-mode
tactile sensor comprises a first sensing layer, a
thermal insulation layer, an
autoclave material layer and a second sensing layer which are arranged in sequence; the first sensing layer comprises a first hot film
resistor, a first cold film
resistor and a first substrate, the first hot film
resistor is used for acquiring a first tactile sensing
signal, and the first tactile sensing
signal comprises at least one of a steady-state
signal, a dynamic signal and a sliding signal; the determination module is used for determining at least one of heat
conductivity coefficient,
thermal diffusivity, roughness, texture and sliding speed; the first cold film resistor is used for acquiring a temperature signal of a to-be-measured substance; the second sensing layer is used for acquiring a pressure signal and an environment temperature signal. According to the multimode touch sensor, the two sensing
layers are integrated, detection of pressure and sliding speed can be achieved, and detection of the heat
conductivity coefficient, the heat diffusivity, the roughness, the texture and the temperature of a contact substance can be achieved.