Actively Perceiving and Responsive Soft Robots Enabled by Self-Powered, Highly Extensible, and Highly Sensitive Triboelectric Proximity- and Pressure-Sensing Skins

Boosting Contact Electrification by Amorphous Polyvinyl Alcohol Endowing Improved Contact Adhesion and Electrochemical Capacitance

Ion conductive hydrogels are relevant components in wearable, biocompatible, and biodegradable electronics. Polyvinyl-alcohol (PVA) homopolymer is often the favored choice for integration into supercapacitors and energy harvesters as in sustainable triboelectric nanogenerators (TENGs). However, to further improve hydrogel-based TENGs, a deeper understanding of the impact of their composition and structure on devices performance is necessary. Here, it is shown how ionic hydrogels based on an amorphous-PVA (a-PVA) allow to fabricate TENGs that outperform the one based on the homopolymer. When used as tribomaterial, the Li-doped a-PVA allows to achieve a twofold higher pressure sensitivity compared to PVA, and to develop a conformable e-skin. When used as an ionic conductor encased in an elastomeric tribomaterial, 100 mW cm-2 average power is obtained, providing 25% power increase compared to PVA. At the origin of such enhancement is the increased softness, stronger adhesive contact, higher ionic mobility (> 3,5-fold increase), and long-term stability achieved with Li-doped a-PVA. These improvements are attributed to the high density of hydroxyl groups and amorphous structure present in the a-PVA, enabling a strong binding to water molecules. This work discloses novel insights on those parameters allowing to develop easy-processable, stable, and highly conductive hydrogels for integration in conformable, soft, and biocompatible TENGs.

Bioinspired electrically stable, optically tunable thermal management electronic skin via interfacial self-assembly

The skin is the largest organ in the human body and serves vital functions such as sensation, thermal management, and protection. While electronic skin (E-skin) has made significant progress in sensory functions, achieving adaptive thermal management akin to human skin has remained a challenge. Drawing inspiration from squid skin, we have developed a hybrid electronic-photonic skin (hEP-skin) using an elastomer semi-embedded with aligned silver nanowires through interfacial self-assembly. With mechanically adjustable optical properties, the hEP-skin demonstrates adaptive thermal management abilities, warming in the range of +3.5°C for heat preservation and cooling in the range of -4.2°C for passive cooling. Furthermore, it exhibits an ultra-stable high electrical conductivity of ∼4.5×104 S/cm, even under stretching, bending or torsional deformations over 10,000 cycles. As a proof of demonstration, the hEP-skin successfully integrates stretchable light-emitting electronic skin with adaptive thermal management photonic skin.

Anisotropy in magnetic materials for sensors and actuators in soft robotic systems

The field of soft intelligent robots has rapidly developed, revealing extensive potential of these robots for real-world applications. By mimicking the dexterities of organisms, robots can handle delicate objects, access remote areas, and provide valuable feedback on their interactions with different environments. For autonomous manipulation of soft robots, which exhibit nonlinear behaviors and infinite degrees of freedom in transformation, innovative control systems integrating flexible and highly compliant sensors should be developed. Accordingly, sensor-actuator feedback systems are a key strategy for precisely controlling robotic motions. The introduction of material magnetism into soft robotics offers significant advantages in the remote manipulation of robotic operations, including touch or touchless detection of dynamically changing shapes and positions resulting from the actuations of robots. Notably, the anisotropies in the magnetic nanomaterials facilitate the perception and response with highly selective, directional, and efficient ways used for both sensors and actuators. Accordingly, this review provides a comprehensive understanding of the origins of magnetic anisotropy from both intrinsic and extrinsic factors and summarizes diverse magnetic materials with enhanced anisotropy. Recent developments in the design of flexible sensors and soft actuators based on the principle of magnetic anisotropy are outlined, specifically focusing on their applicabilities in soft robotic systems. Finally, this review addresses current challenges in the integration of sensors and actuators into soft robots and offers promising solutions that will enable the advancement of intelligent soft robots capable of efficiently executing complex tasks relevant to our daily lives.

Multiscale Heterogeneities-Based Piezoresistive Interfaces with Ultralow Detection Limitation and Adaptively Switchable Pressure Detectability

Mechanical compliance and electrical enhancement are crucial for pressure sensors to promote performances when perceiving external stimuli. Here we propose a bioinspired multiscale heterogeneity-based interface to adaptively regulate its structure layout and switch to desirable piezoresistive behaviors with ultralow detection limitation. In such a multiscale heterogeneities system, the micro-/nanoscale spiny Ag-MnO2 heterostructure contributes to an ultralow detection limitation of 0.008 Pa and can perceive minor pressure increments under preloads with high resolution (0.0083%). The macroscale heterogeneous orientation of the cellular backbone enables anisotropic deformation, allowing the sensor to switch to rational sensitivity and working range (e.g., 580 kPa-1 for 0-20 kPa/54 kPa-1 for 60-140 kPa) as required. The sensor's stepwise activation progresses from the micro-/nanoscale heterostructure to the macroscale heterogeneous orientation, which can adaptively match diverse sensing tasks in complex applications scenarios. This multiscale heterogeneous and switchable design holds immense potential in the development of intelligent electromechanical devices, including wearable sensors, soft robotics, and smart actuators.

Biosignal-integrated robotic systems with emerging trends in visual interfaces: A systematic review

Human-machine interfaces (HMI) are currently a trendy and rapidly expanding area of research. Interestingly, the human user does not readily observe the interface between humans and machines. Instead, interactions between the machine and electrical signals from the user's body are obscured by complex control algorithms. The result is effectively a one-way street, wherein data is only transmitted from human to machine. Thus, a gap remains in the literature: how can information be effectively conveyed to the user to enable mutual understanding between humans and machines? Here, this paper reviews recent advancements in biosignal-integrated wearable robotics, with a particular emphasis on "visualization"-the presentation of relevant data, statistics, and visual feedback to the user. This review article covers various signals of interest, such as electroencephalograms and electromyograms, and explores novel sensor architectures and key materials. Recent developments in wearable robotics are examined from control and mechanical design perspectives. Additionally, we discuss current visualization methods and outline the field's future direction. While much of the HMI field focuses on biomedical and healthcare applications, such as rehabilitation of spinal cord injury and stroke patients, this paper also covers less common applications in manufacturing, defense, and other domains.

Large-area, untethered, metamorphic, and omnidirectionally stretchable multiplexing self-powered triboelectric skins

Large-area metamorphic stretchable sensor networks are desirable in haptic sensing and next-generation electronics. Triboelectric nanogenerator-based self-powered tactile sensors in single-electrode mode constitute one of the best solutions with ideal attributes. However, their large-area multiplexing utilizations are restricted by severe misrecognition between sensing nodes and high-density internal circuits. Here, we provide an electrical signal shielding strategy delivering a large-area multiplexing self-powered untethered triboelectric electronic skin (UTE-skin) with an ultralow misrecognition rate (0.20%). An omnidirectionally stretchable carbon black-Ecoflex composite-based shielding layer is developed to effectively attenuate electrostatic interference from wirings, guaranteeing low-level noise in sensing matrices. UTE-skin operates reliably under 100% uniaxial, 100% biaxial, and 400% isotropic strains, achieving high-quality pressure imaging and multi-touch real-time visualization. Smart gloves for tactile recognition, intelligent insoles for gait analysis, and deformable human-machine interfaces are demonstrated. This work signifies a substantial breakthrough in haptic sensing, offering solutions for the previously challenging issue of large-area multiplexing sensing arrays.

Hierarchical Wrinkles with Piezopotential Enhanced Surface Tribopolarity for High-Performance Self-Powered Pressure Sensor

Achieving both high sensitivity and wide detecting range is significant for the applications of triboelectric nanogenerator-based self-powered pressure sensors (TPSs). However, most of the previous designs with high sensitivity usually struggle in a narrow pressure detection range (<30 kPa) while expanding the detection range normally sacrifices the sensitivity. To overcome this well-known obstacle, herein, piezopotential enhanced triboelectric effect realized by a rationally designed PDMS/ZnO NWs hierarchical wrinkle structure was exploited to develop a TPS (PETPS) with both high sensitivity and wide detecting range. In this PETPS design, the piezopotential derived from the deformation of ZnO NWs enhances its tribo-charge transferring ability; meanwhile, the hierarchical structure helps to establish a dynamically self-adjustable contact area. Benefiting from these advantages, the PETPS simultaneously achieves high sensitivity (0.26 nC cm-2 kPa-1 from 1 to 25 kPa, and 0.02 nC cm-2 kPa-1 from 25 to 476 kPa), fast response (46 ms), wide sensing range (1 to 476 kPa), and good stability (over 4000 cycles). In addition, the output charge density that is independent of the speed rate of driven force was adopted as the sensing signal of PETPS to replace the commonly used peak voltage/current values, enabling it more adaptive to accurately detect pressure variation in real applications.

Self-Powered Temperature Electronic Skin Based on Island-Bridge Structure and Bi-Te Micro-Thermoelectric Generator for Distributed Mini-Region Sensing

Thermoelectric (TE) effect based temperature sensor can accurately convert temperature signal into voltage without external power supply, which have great application prospects in self-powered temperature electronic skin (STES). But the fabrication of stretchable and distributed STES still remains a challenge. Here, a novel STES design strategy is proposed by combining flexible island-bridge structure with BiTe-based micro-thermoelectric generator (µ-TEG). Furthermore, a 4 × 4 vertical temperature sensor array with good stretchability and distributed sensing property has been fabricated for the first time. The interfacial chemical bonds located between the rigid islands (µ-TEG) and the flexible substrate (polydimethylsiloxane, PDMS) endow the STES with excellent stretchability, and its sensing performance remains unchanged under 30% strain (the maximum strain of human skin). Moreover, the STES sensing unit possesses high sensitivity (729 µV K-1 ), rapid response time (0.157 s), and high spatial resolution (2.75 × 2.75 mm2 ). As a proof of concept, this work demonstrates the application of the STES in the detection of mini-region heat sources in various scenarios including noncontact spatial temperature responsing, intelligent robotic thermosensing, and wearable temperature sensing. Such an inspiring design strategy is expected to provide guidance for the design and fabrication of wearable self-powered temperature sensors.

Sensing in Soft Robotics

Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. Soft robots can handle delicate objects with care, access remote areas, and offer realistic feedback on their handling performance. However, increased dexterity and mechanical compliance of soft robots come with the need for accurate control of the position and shape of these robots. Therefore, soft robots must be equipped with sensors for better perception of their surroundings, location, force, temperature, shape, and other stimuli for effective usage. This review highlights recent progress in sensing feedback technologies for soft robotic applications. It begins with an introduction to actuation technologies and material selection in soft robotics, followed by an in-depth exploration of various types of sensors, their integration methods, and the benefits of multimodal sensing, signal processing, and control strategies. A short description of current market leaders in soft robotics is also included in the review to illustrate the growing demands of this technology. By examining the latest advancements in sensing feedback technologies for soft robots, this review aims to highlight the potential of soft robotics and inspire innovation in the field.

Intelligent soft robotic fingers with multi-modality perception ability

In the context of industry 4.0, automatic sorting is becoming prevalent in production lines. Herein, we developed a bionic sensing system to achieve real-time object recognition. The system consists of 9 single-layer triboelectric nanogenerators (SL-TENGs) as touch sensors and 3 comb-shaped TENGs (CS-TENGs) as bending sensors, with a sensitivity of 110 V/kPa and stable output after 20,000 press cycles. These sensors were attached to a manipulator composed of three soft actuators, serving as soft robotic fingers. An enhanced electrical output of these sensors was achieved successfully, demonstrating their feasibility in detecting grasping location, contact pressure, and bending curvature. A one-dimensional convolutional neural network (1D-CNN) with 98.96% accuracy extracted information from the sensors, enabling the manipulator to serve as an intelligent sensing system with multi-modality perception ability. This robotic manipulator successfully integrated TENG-based self-powered sensors, soft actuators, and artificial intelligence, demonstrating the potential for future digital twin applications, particularly in automatic component sorting.

Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade.

Smart Triboelectric Nanogenerators Based on Stimulus-Response Materials: From Intelligent Applications to Self-Powered Systems

Smart responsive materials can react to external stimuli via a reversible mechanism and can be directly combined with a triboelectric nanogenerator (TENG) to deliver various intelligent applications, such as sensors, actuators, robots, artificial muscles, and controlled drug delivery. Not only that, mechanical energy in the reversible response of innovative materials can be scavenged and transformed into decipherable electrical signals. Because of the high dependence of amplitude and frequency on environmental stimuli, self-powered intelligent systems may be thus built and present an immediate response to stress, electrical current, temperature, magnetic field, or even chemical compounds. This review summarizes the recent research progress of smart TENGs based on stimulus-response materials. After briefly introducing the working principle of TENG, we discuss the implementation of smart materials in TENGs with a classification of several sub-groups: shape-memory alloy, piezoelectric materials, magneto-rheological, and electro-rheological materials. While we focus on their design strategy and function collaboration, applications in robots, clinical treatment, and sensors are described in detail to show the versatility and promising future of smart TNEGs. In the end, challenges and outlooks in this field are highlighted, with an aim to promote the integration of varied advanced intelligent technologies into compact, diverse functional packages in a self-powered mode.

Touchable Gustation via a Hoffmeister Gel Iontronic Sensor

A particular sense, touchable gustation, was achieved. We proposed a chemical-mechanical interface strategy with an iontronic sensor device. A conductive hydrogel, amino trimethylene phosphonic acid (ATMP) assisted poly(vinyl alcohol) (PVA), was employed as the dielectric layer of the gel iontronic sensor. The Hofmeister effect of the ATMP-PVA hydrogel was well investigated to establish the quantitative description of the gel elasticity modulus to chemical cosolvents. The mechanical properties of hydrogels can be transduced extensively and reversibly by regulating the aggregation state of polymer chains with hydrated ions or cosolvents. Scanning electron microscopy (SEM) images of ATMP-PVA hydrogel microstructures stained with different soaked cosolvents present different networks. The information on different chemical components will be stored in the ATMP-PVA gels. The flexible gel iontronic sensor with a hierarchical pyramid structure performed high linear sensitivity of 3224.2 kPa^-1 and wide pressure response in the range of 0-100 kPa. The finite element analysis proved the pressure distribution at the gel interface of the gel iontronic sensor and the capacitation-stress response relation. Various cations, anions, amino acids, and saccharides can be discriminated, classified, and quantified with the gel iontronic sensor. The Hofmeister effect regulated chemical-mechanical interface performs the response and conversion of biological/chemical signals into electrical output in real time. The particular function to tactile with gustation percept will contribute promising applications in the human-machine interaction, humanoid robot, clinic treatment, or athletic training optimization.

Biocompatible and Long-Term Monitoring Strategies of Wearable, Ingestible and Implantable Biosensors: Reform the Next Generation Healthcare

Sensors enable the detection of physiological indicators and pathological markers to assist in the diagnosis, treatment, and long-term monitoring of diseases, in addition to playing an essential role in the observation and evaluation of physiological activities. The development of modern medical activities cannot be separated from the precise detection, reliable acquisition, and intelligent analysis of human body information. Therefore, sensors have become the core of new-generation health technologies along with the Internet of Things (IoTs) and artificial intelligence (AI). Previous research on the sensing of human information has conferred many superior properties on sensors, of which biocompatibility is one of the most important. Recently, biocompatible biosensors have developed rapidly to provide the possibility for the long-term and in-situ monitoring of physiological information. In this review, we summarize the ideal features and engineering realization strategies of three different types of biocompatible biosensors, including wearable, ingestible, and implantable sensors from the level of sensor designing and application. Additionally, the detection targets of the biosensors are further divided into vital life parameters (e.g., body temperature, heart rate, blood pressure, and respiratory rate), biochemical indicators, as well as physical and physiological parameters based on the clinical needs. In this review, starting from the emerging concept of next-generation diagnostics and healthcare technologies, we discuss how biocompatible sensors revolutionize the state-of-art healthcare system unprecedentedly, as well as the challenges and opportunities faced in the future development of biocompatible health sensors.

An Environmental-Inert and Highly Self-Healable Elastomer Obtained via Double-Terminal Aromatic Disulfide Design and Zwitterionic Crosslinked Network for Use as a Triboelectric Nanogenerator

Due to the ongoing development of portable/mobile electronics, sources to power have received widespread attention. Compared to chemical batteries as power sources, triboelectric nanogenerators (TENGs) possess lots of advantages, including the ability to harvest energy via human motions, flexible structures, environment-friendliness, and long-life characteristics. Although many self-healable TENGs are reported, the achievement of a muscle-like elasticity and the ability to recover from inevitable damage under extreme conditions (such as a high/low temperature and/or humidity) remain a challenge. Herein, a "double-terminal aromatic disulfide" on a structure with zwitterions as branched chains is reported to engineer the high-efficient self-healable elastomer for application in a flexible TENG. The as-designed material exhibits a repeatable elastic recovery (at 250% elongation) and a self-healing efficiency with an ultimate tensile stress of 96% over 2 h, representing an improvement on previously reported disulfide-based elastomers. The elastomer can autonomously recover by 50% even at a subzero temperature of -30 °C within 24 h. The elastomer-based TENG, as a self-driven sensor for detecting human behavior, is demonstrated to exhibit stable outputs and self-healing in the temperature range of -30 to 60 °C, and so is expected to promote the development of self-powered electronics for next-generation human-machine communications.

Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots

Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.

Multicomponent and multifunctional integrated miniature soft robots

Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.

Stretchable and Self-Powered Temperature-Pressure Dual Sensing Ionic Skins Based on Thermogalvanic Hydrogels

Tactile sensors with both temperature- and pressure-responsive capabilities are critical to enabling future smart artificial intelligence. These sensors can mimic haptic functions of human skin and inevitably suffer from tensile deformation during operation. However, almost all actual multifunctional tactile sensors are either nonstretchable or the sensing signals interfere with each other when stretched. Herein, we propose a stretchable and self-powered temperature-pressure dual functional sensor based on thermogalvanic hydrogels. The sensor operates properly under stretching, which relies on the thermogalvanic effect and constant elastic modulus of hydrogels. The thermogalvanic hydrogel elastomer exhibits an equivalent Seebeck coefficient of -1.21 mV K^-1 and a pressure sensitivity of 0.056 kPa^-1. Combined with unit array integration, the multifunctional sensor can be used for accurately recording tactile information on human skin and spatial perception. This work provides a conceptual framework and systematic design for stretchable artificial skin, interactive wearables, and smart robots.

Touchless interactive teaching of soft robots through flexible bimodal sensory interfaces

In this paper, we propose a multimodal flexible sensory interface for interactively teaching soft robots to perform skilled locomotion using bare human hands. First, we develop a flexible bimodal smart skin (FBSS) based on triboelectric nanogenerator and liquid metal sensing that can perform simultaneous tactile and touchless sensing and distinguish these two modes in real time. With the FBSS, soft robots can react on their own to tactile and touchless stimuli. We then propose a distance control method that enabled humans to teach soft robots movements via bare hand-eye coordination. The results showed that participants can effectively teach a self-reacting soft continuum manipulator complex motions in three-dimensional space through a "shifting sensors and teaching" method within just a few minutes. The soft manipulator can repeat the human-taught motions and replay them at different speeds. Finally, we demonstrate that humans can easily teach the soft manipulator to complete specific tasks such as completing a pen-and-paper maze, taking a throat swab, and crossing a barrier to grasp an object. We envision that this user-friendly, non-programmable teaching method based on flexible multimodal sensory interfaces could broadly expand the domains in which humans interact with and utilize soft robots.

A Multitasking Flexible Sensor via Reservoir Computing

Natural disasters are reported globally, and one source of severe damage to cities is flooding caused by locally heavy rain. Sharing of local weather information can save lives. However, it is difficult to collect local weather information in real-time because such data collection requires bulky, expensive sensors. For local, real-time monitoring of heavy rain and wind, a sensor system should be simple and low-cost so that it can be attached to a variety of surfaces, including roofs, vehicles, and umbrellas. To develop simple, low-cost multitasking sensors located on nonplanar surfaces, a flexible rain sensor to monitor waterdrop volume and wind velocity is devised. To monitor both simultaneously, a laser-induced graphene-based superhydrophobic conductive film is introduced. Using the superhydrophobic surface, water dynamics are measured when waterdrops collide with the sensor surface, and obtained time-series data are processed using "reservoir computing" to extract the volume and velocity from a single sensor as multitasking electronics. As a proof-of-concept, it is shown that the sensor measures continuous, long-term volume and wind-change dynamics. The results demonstrate feasibility of multitasking electronics with reservoir computing to reduce sensor integration complexity with low power consumption for both sensor and signal processing.

3D Porous MXene Aerogel through Gas Foaming for Multifunctional Pressure Sensor

The development of smart wearable electronic devices puts forward higher requirements for future flexible electronics. The design of highly sensitive and high-performance flexible pressure sensors plays an important role in promoting the development of flexible electronic devices. Recently, MXenes with excellent properties have shown great potential in the field of flexible electronics. However, the easy-stacking inclination of nanomaterials limits the development of their excellent properties and the performance improvement of related pressure sensors. Traditional methods for constructing 3D porous structures have the disadvantages of complexity, long period, and difficulty of scalability. Here, the gas foaming strategy is adopted to rapidly construct 3D porous MXene aerogels. Combining the excellent surface properties of MXenes with the porous structure of aerogel, the prepared MXene aerogels are successfully used in high-performance multifunctional flexible pressure sensors with high sensitivity (306 kPa-1), wide detection range (2.3 Pa to 87.3 kPa), fast response time (35 ms), and ultrastability (>20,000 cycles), as well as self-healing, waterproof, cold-resistant, and heat-resistant capabilities. MXene aerogel pressure sensors show great potential in harsh environment detection, behavior monitoring, equipment recovery, pressure array identification, remote monitoring, and human-computer interaction applications.

Highly Sensitive and Robust Polysaccharide-Based Composite Hydrogel Sensor Integrated with Underwater Repeatable Self-Adhesion and Rapid Self-Healing for Human Motion Detection

Tough, biocompatible, and conductive hydrogel-based strain sensors are attractive in the fields of human motion detection and wearable electronics, whereas it is still a great challenge to simultaneously integrate underwater adhesion and self-healing properties into one hydrogel sensor. Here, a highly stretchable, sensitive, and multifunctional polysaccharide-based dual-network hydrogel sensor was constructed using dialdehyde carboxymethyl cellulose (DCMC), chitosan (CS), poly(acrylic acid) (PAA), and aluminum ions (Al³⁺). The obtained DCMC/CS/PAA (DCP) composite hydrogels exhibit robust mechanical strength and good adhesive and self-healing properties, due to the reversible dynamic chemical bonds and physical interactions such as Schiff base bonds and metal coordination. The conductivity of hydrogel is 2.6 S/m, and the sensitivity (gauge factor (GF)) is up to 15.56. Notably, the DCP hydrogel shows excellent underwater repeatable adhesion to animal tissues and good self-healing properties in water (self-healing rate > 90%, self-healing time < 10 min). The DCP hydrogel strain sensor can sensitively monitor human motion including finger bending, smiling, and wrist pulse, and it can steadily detect human movement underwater. This work is expected to provide a new strategy for the design of high-performance intelligent sensors, particularly for applications in wet and underwater environments.

Reconfigurable Fiber Triboelectric Nanogenerator for Self-Powered Defect Detection

With the extensive applications of portable, wearable, and stretchable electronics, the fiber triboelectric nanogenerator (TENG) has been developed particularly and rapidly. However, variable stiffness or even switchable stiffness for the fiber TENG is also urgently needed in some specific service conditions. Here, the functional, reconfigurable fiber TENG is presented for harvesting mechanical energy and self-powered sensors. It is mainly composed of soft tubes with filled low-melting-point alloy (LMPA), conductive wire, and electrically heated wire. Under an input frequency of 3 Hz, this fiber TENG produces a maximum peak power density of 348.5 μW/m. Due to its excellent reconfigurable characteristics, it can be switched back and forth in many different application situations. It can be intelligently used not only as a self-powered tactile and mechanical sensor but also as a self-powered splint for postdisaster relief work. Besides, the cracking detection of a gear and a lead screw is also realized using this fiber TENG. This work strongly promotes the application of variable stiffness LMPAs in the TENG, especially for the reconfigurable fiber TENG. It also promotes the potential self-powered applications of the TENG in the fields of sensors and detection, such as mechanical flaw detection and self-powered tactile detection.

Advances in High-Performance Autonomous Energy and Self-Powered Sensing Textiles with Novel 3D Fabric Structures

The seamless integration of emerging triboelectric nanogenerator (TENG) technology with traditional wearable textile materials has given birth to the next-generation smart textiles, i.e., textile TENGs, which will play a vital role in the era of Internet of Things and artificial intelligences. However, low output power and inferior sensing ability have largely limited the development of textile TENGs. Among various approaches to improve the output and sensing performance, such as material modification, structural design, and environmental management, a 3D fabric structural scheme is a facile, efficient, controllable, and scalable strategy to increase the effective contact area for contact electrification of textile TENGs without cumbersome material processing and service area restrictions. Herein, the recent advances of the current reported textile TENGs with 3D fabric structures are comprehensively summarized and systematically analyzed in order to clarify their superiorities over 1D fiber and 2D fabric structures in terms of power output and pressure sensing. The forward-looking integration abilities of the 3D fabrics are also discussed at the end. It is believed that the overview and analysis of textile TENGs with distinctive 3D fabric structures will contribute to the development and realization of high-power output micro/nanowearable power sources and high-quality self-powered wearable sensors.

Textile-Based Flexible Capacitive Pressure Sensors: A Review

Flexible capacitive pressure sensors have been widely used in electronic skin, human movement and health monitoring, and human–machine interactions. Recently, electronic textiles afford a valuable alternative to traditional capacitive pressure sensors due to their merits of flexibility, light weight, air permeability, low cost, and feasibility to fit various surfaces. The textile-based functional layers can serve as electrodes, dielectrics, and substrates, and various devices with semi-textile or all-textile structures have been well developed. This paper provides a comprehensive review of recent developments in textile-based flexible capacitive pressure sensors. The latest research progresses on textile devices with sandwich structures, yarn structures, and in-plane structures are introduced, and the influences of different device structures on performance are discussed. The applications of textile-based sensors in human wearable devices, robotic sensing, and human–machine interaction are then summarized. Finally, evolutionary trends, future directions, and challenges are highlighted.

Progress of Advanced Devices and Internet of Things Systems as Enabling Technologies for Smart Homes and Health Care

In the Internet of Things (IoT) era, various devices (e.g., sensors, actuators, energy harvesters, etc.) and systems have been developed toward the realization of smart homes/buildings and personal health care. These advanced devices can be categorized into ambient devices and wearable devices based on their usage scenarios, to enable motion tracking, health monitoring, daily care, home automation, fall detection, intelligent interaction, assistance, living convenience, and security in smart homes. With the rapidly increasing number of such advanced devices and IoT systems, achieving fully self-sustained and multimodal intelligent systems is becoming more and more important to realize a sustainable and all-in-one smart home platform. Hence, in this Review, we systematically present the recent progress of the development of advanced materials, fabrication techniques, devices, and systems for enabling smart home and health care applications. First, advanced polymer, fiber, and fabric materials as well as their respective fabrication techniques for large-scale manufacturing are discussed. After that, functional devices classified into ambient devices (at home ambiance such as door, floor, table, chair, bed, toilet, window, wall, etc.) and wearable devices (on body parts such as finger, wrist, arm, throat, face, back, etc.) are presented for diverse monitoring and auxiliary applications. Next, the current developments of self-sustained systems and intelligent systems are reviewed in detail, indicating two promising research directions in this field. Last, conclusions and outlook pinpointed on the existing challenges and opportunities are provided for the research community to consider.

A Biodegradable and Recyclable Piezoelectric Sensor Based on a Molecular Ferroelectric Embedded in a Bacterial Cellulose Hydrogel

Currently, various electronic devices make our life more and more safe, healthy, and comfortable, but at the same time, they produce a large amount of nondegradable and nonrecyclable electronic waste that threatens our environment. In this work, we explore an environmentally friendly and flexible mechanical sensor that is biodegradable and recyclable. The sensor consists of a bacterial cellulose (BC) hydrogel as the matrix and imidazolium perchlorate (ImClO₄) molecular ferroelectric as the functional element, the hybrid of which possesses a high sensitivity of 4 mV kPa^-1 and a wide operational range from 0.2 to 31.25 kPa, outperforming those of most devices based on conventional functional biomaterials. Moreover, the BC hydrogel can be fully degraded into glucose and oligosaccharides, while ImClO₄ can be recyclable and reused for the same devices, leaving no environmentally hazardous electronic waste.

Monitoring the Degree of Comfort of Shoes In-Motion Using Triboelectric Pressure Sensors with an Ultrawide Detection Range

Shoes play an important role in sports and human daily life. Here, an in-shoe sensor pad (ISSP) attached to the vamp lining is based on a triboelectric nanogenerator (TENG) for monitoring the real-time stress distribution on the top side of a foot. Each sensor unit on this ISSP is an air-capsule TENG (AC-TENG) consisting of activated carbon/polyurethane (AC/PU) and microsphere array electrodes. The detection range of each AC-TENG reaches 7.27 MPa, which is enough for monitoring the pressure change during different sports. This multifunctional ISSP can realize many typical functions of conventional smart shoes, including step counting and human-machine interaction. Moreover, it can also reveal special information, including the fitness of shoes, the stress concentration on toes, and the in-motion comfort degree. The signal processing and data transmission modules in the system have a hybrid power supply with wireless power transfer, while the real-time information about feet can be observed on a cell phone. Hence, this ISSP provides a potential approach to study the feet motion and comfort degree of shoes in long-term operations, which can guide both athlete training and the customized design of shoes.

Recent Advances in Electronic Skins with Multiple-Stimuli-Responsive and Self-Healing Abilities

Wearable electronic skin (e-skin) has provided a revolutionized way to intelligently sense environmental stimuli, which shows prospective applications in health monitoring, artificial intelligence and prosthetics fields. Drawn inspiration from biological skins, developing e-skin with multiple stimuli perception and self-healing abilities not only enrich their bionic multifunctionality, but also greatly improve their sensory performance and functional stability. In this review, we highlight recent important developments in the material structure design strategy to imitate the fascinating functionalities of biological skins, including molecular synthesis, physical structure design, and special biomimicry engineering. Moreover, their specific structure-property relationships, multifunctional application, and existing challenges are also critically analyzed with representative examples. Furthermore, a summary and perspective on future directions and challenges of biomimetic electronic skins regarding function construction will be briefly discussed. We believe that this review will provide valuable guidance for readers to fabricate superior e-skin materials or devices with skin-like multifunctionalities and disparate characteristics.

Recent progress in self-powered multifunctional e-skin for advanced applications

Electronic skin (e-skin), new generation of flexible wearable electronic devices, has characteristics including flexibility, thinness, biocompatibility with broad application prospects, and a crucial place in future wearable electronics. With the increasing demand for wearable sensor systems, the realization of multifunctional e-skin with low power consumption or even autonomous energy is urgently needed. The latest progress of multifunctional self-powered e-skin for applications in physiological health, human-machine interaction (HMI), virtual reality (VR), and artificial intelligence (AI) is presented here. Various energy conversion effects for the driving energy problem of multifunctional e-skin are summarized. An overview of various types of self-powered e-skins, including single-effect e-skins and multifunctional coupling-effects e-skin systems is provided, where the aspects of material preparation, device assembly, and output signal analysis of the self-powered multifunctional e-skin are described. In the end, the existing problems and prospects in this field are also discussed.

Triboelectric Nanogenerators as Active Tactile Stimulators for Multifunctional Sensing and Artificial Synapses

The wearable tactile sensors have attracted great attention in the fields of intelligent robots, healthcare monitors and human-machine interactions. To create active tactile sensors that can directly generate electrical signals in response to stimuli from the surrounding environment is of great significance. Triboelectric nanogenerators (TENGs) have the advantages of high sensitivity, fast response speed and low cost that can convert any type of mechanical motion in the surrounding environment into electrical signals, which provides an effective strategy to design the self-powered active tactile sensors. Here, an overview of the development in TENGs as tactile stimulators for multifunctional sensing and artificial synapses is systematically introduced. Firstly, the applications of TENGs as tactile stimulators in pressure, temperature, proximity sensing, and object recognition are introduced in detail. Then, the research progress of TENGs as tactile stimulators for artificial synapses is emphatically introduced, which is mainly reflected in the electrolyte-gate synaptic transistors, optoelectronic synaptic transistors, floating-gate synaptic transistors, reduced graphene oxides-based artificial synapse, and integrated circuit-based artificial synapse and nervous systems. Finally, the challenges of TENGs as tactile stimulators for multifunctional sensing and artificial synapses in practical applications are summarized, and the future development prospects are expected.

A highly accurate flexible sensor system for human blood pressure and heart rate monitoring based on graphene/sponge

The development of wearable devices has shown tremendous dynamism, which places greater demands on the accuracy and consistency of sensors. This work reports a flexible sensing system for human health monitoring of parameters such as human pulse waveform, blood pressure and heart rate. The signal acquisition part is a vertically structured piezoresistive micro-pressure flexible sensor. To ensure accuracy, the sensors are filled with melamine sponge covered by graphene nanoconductive materials as the conductive layer, and ecoflex material acts as the flexible substrate. The flexible sensors fabricated under the 3D printing mold-assisted method exhibited high accuracy, good repeatability and remarkable response to micro-pressure. However, when used for human pulse signal measurement, the sensors are affected by unavoidable interference. In order to collect human health data accurately, signal acquisition and processing systems were constructed. The system allows for the accurate acquisition of human pulse signals, accompanied by the function of non-invasive, real-time and continuous detection of human blood pressure heart rate parameters. By comparing with an Omron blood pressure monitor, the blood pressure heart rate index error of the flexible sensing system does not exceed 3%.

We fabricated a flexible sensing system, including the preparation of sensors and construction of the signal processing computing platform, which enabled human health monitoring by collecting pulse signals.

A conductive polyacrylamide hydrogel enabled by dispersion-enhanced MXene@chitosan assembly for highly stretchable and sensitive wearable skin

MXene is recognized as an ideal material for sensitive wearable strain sensors because of its unique advantages of conductivity, hydrophilicity and mechanical properties. However, conventional hydrogel sensors utilizing MXene as a conductive material inevitably encounter the excessive accumulation of MXene nanosheets during the process of synthesis, which limits the electron transmission, reduces the conductivity, and concurrently weakens the mechanical capability and sensitivity of sensors. Herein, we construct a dispersion-enhanced MXene hydrogel (DEMH) through a chitosan-induced self-assembly strategy for the first time. Charge transfer is carried out through the flow of a material or a collection of material microstructures, and thus the highly interconnected 3D MXene@Chitosan network provides fast transport channels for electrons, and the DEMH exhibits excellent conductivity and sensibility simultaneously. Besides, the electrostatic self-assembly between MXene and chitosan, and the supramolecular interactions between MXene, chitosan and polyacrylamide chain segment result in excellent mechanical strength (of up to 1900%) and flexibility of DEMH. Furthermore, the introduction of chitosan which possesses a high density of positively charged groups and MXene with semiconducting properties also endows sensor versatility, such as self-adhesion properties and antibacterial activity. This work develops a simple and cut-price strategy for combining MXene unaggregated into a hydrogel as a sensor with high conductivity, sensibility and flexibility. A simple and inexpensive strategy for avoiding self-stacking of two-dimensional conductive materials is proposed, which paves the way for a broad range of applications in electronic skin, human motion detection and intelligent devices.

Molecular Ferroelectric-Based Flexible Sensors Exhibiting Supersensitivity and Multimodal Capability for Detection

Although excellent dielectric, piezoelectric, and pyroelectric properties matched with or even surpassing those of ferroelectric ceramics have been recently discovered in molecular ferroelectrics, their successful applications in devices are scarce. The fracture proneness of molecular ferroelectrics under mechanical loading precludes their applications as flexible sensors in bulk crystalline form. Here, self-powered flexible mechanical sensors prepared from the facile deposition of molecular ferroelectric [C(NH₂ )₃ ]ClO₄ onto a porous polyurethane (PU) matrix are reported. [C(NH₂ )₃ ]ClO₄ -PU is capable of detecting pressure of 3 Pa and strain of 1% that are hardly accessible by the state-of-the-art piezoelectric, triboelectric, and piezoresistive sensors, and presents the ability of sensing multimodal mechanical forces including compression, stretching, bending, shearing, and twisting with high cyclic stability. This scaling analysis corroborated with computational modeling provides detailed insights into the electro-mechanical coupling and establishes rules of engineering design and optimization for the hybrid sponges. Demonstrative applications of the [C(NH₂ )₃ ]ClO₄ -PU array suggest potential uses in interactive electronics and robotic systems.

Micro-Nano Processing of Active Layers in Flexible Tactile Sensors via Template Methods: A Review

Template methods are regarded as an important method for micro-nano processing in the active layer of flexible tactile sensors. These template methods use physical/chemical processes to introduce micro-nano structures on the active layer, which improves many properties including sensitivity, response/recovery time, and detection limit. However, since the processing process and applicable conditions of the template method have not yet formed a perfect system, the development and commercialization of flexible tactile sensors based on the template method are still at a relatively slow stage. Despite the above obstacles, advances in microelectronics, materials science, nanoscience, and other disciplines have laid the foundation for various template methods, enabling the continuous development of flexible tactile sensors. Therefore, a comprehensive and systematic review of flexible tactile sensors based on the template method is needed to further promote progress in this field. Here, the unique advantages and shortcomings of various template methods are summarized in detail and discuss the research progress and challenges in this field. It is believed that this review will have a significant impact on many fields of flexible electronics, which is beneficial to promote the cross-integration of multiple fields and accelerate the development of flexible electronic devices.

From contact electrification to triboelectric nanogenerators

Although the contact electrification (CE) (or usually called 'triboelectrification') effect has been known for over 2600 years, its scientific mechanism still remains debated after decades. Interest in studying CE has been recently revisited due to the invention of triboelectric nanogenerators (TENGs), which are the most effective approach for converting random, low-frequency mechanical energy (called high entropy energy) into electric power for distributed energy applications. This review is composed of three parts that are coherently linked, ranging from basic physics, through classical electrodynamics, to technological advances and engineering applications. First, the mechanisms of CE are studied for general cases involving solids, liquids and gas phases. Various physics models are presented to explain the fundamentals of CE by illustrating that electron transfer is the dominant mechanism for CE for solid-solid interfaces. Electron transfer also occurs in the CE at liquid-solid and liquid-liquid interfaces. An electron-cloud overlap model is proposed to explain CE in general. This electron transfer model is extended to liquid-solid interfaces, leading to a revision of the formation mechanism of the electric double layer at liquid-solid interfaces. Second, by adding a time-dependent polarization termP_screated by the CE-induced surface electrostatic charges in the displacement fieldD, we expand Maxwell's equations to include both the medium polarizations due to electric field (P) and mechanical aggitation and medium boundary movement induced polarization term (P_s). From these, the output power, electromagnetic (EM) behaviour and current transport equation for a TENG are systematically derived from first principles. A general solution is presented for the modified Maxwell's equations, and analytical solutions for the output potential are provided for a few cases. The displacement current arising fromε∂E/∂t is responsible for EM waves, while the newly added term ∂P_s/∂t is responsible for energy and sensors. This work sets the standard theory for quantifying the performance and EM behaviour of TENGs in general. Finally, we review the applications of TENGs for harvesting all kinds of available mechanical energy that is wasted in our daily life, such as human motion, walking, vibration, mechanical triggering, rotating tires, wind, flowing water and more. A summary is provided about the applications of TENGs in energy science, environmental protection, wearable electronics, self-powered sensors, medical science, robotics and artificial intelligence.

Reversible Underwater Adhesion for Soft Robotic Feet by Leveraging Electrochemically Tunable Liquid Metal Interfaces

Soft crawling robots have potential applications for surveillance, rescue, and detection in complex environments. Despite this, most existing soft crawling robots either use nonadjustable feet to passively induce asymmetry in friction to actuate or are only capable of moving on surfaces with specific designs. Thus, robots often lack the ability to move along arbitrary directions in a two-dimensional (2D) plane or in unpredictable environments such as wet surfaces. Here, leveraging the electrochemically tunable interfaces of liquid metal, we report the development of liquid metal smart feet (LMSF) that enable electrical control of friction for achieving versatile actuation of prismatic crawling robots on wet slippery surfaces. The functionality of the LMSF is examined on crawling robots with soft or rigid actuators. Parameters that affect the performance of the LMSF are investigated. The robots with the LMSF prove capable of actuating across different surfaces in various solutions. Demonstration of 2D locomotion of crawling robots along arbitrary directions validates the versatility and reliability of the LMSF, suggesting broad utility in the development of advanced soft robotic systems.

Abrasion Resistant/Waterproof Stretchable Triboelectric Yarns Based on Fermat Spirals

Emerging energy harvesting yarns, via triboelectric effects, have wide application prospects in new-generation wearable electronics. However, few studies have been carried out regarding simultaneously achieving high electrical performance, mechanical robustness, and comfortability in industrial-scalable yarn. Here, an electronic yarn twisted into Fermat spiral, which has outstanding dynamic structure stability, is reported. The Fermat-spiral-based energy yarns (FSBEY) can simultaneously realize ultrahigh abrasion resistance (over 5000 Martindale standard abrasion cycles), stable reversible strain (100%), and excellent electrical output. Considerably high output (105 V, ≈1.2 µA under 2 Hz) can be attained upon contacting a single yarn (30 cm) with latex material, which is superior to most state-of-the-art stretchable triboelectric yarns. The application of these FSBEY in wireless gesture recognition, smart screen information protection, and harvesting of energy from water dropletsis demonstrated. Moreover, textiles knitted from the FSBEY have distinguished waterproof nature and are breathable. This work shows a feasible proposal for building future "energy garments".

Artificial Intelligence of Things (AIoT) Enabled Virtual Shop Applications Using Self-Powered Sensor Enhanced Soft Robotic Manipulator

Rapid advancements of artificial intelligence of things (AIoT) technology pave the way for developing a digital-twin-based remote interactive system for advanced robotic-enabled industrial automation and virtual shopping. The embedded multifunctional perception system is urged for better interaction and user experience. To realize such a system, a smart soft robotic manipulator is presented that consists of a triboelectric nanogenerator tactile (T-TENG) and length (L-TENG) sensor, as well as a poly(vinylidene fluoride) (PVDF) pyroelectric temperature sensor. With the aid of machine learning (ML) for data processing, the fusion of the T-TENG and L-TENG sensors can realize the automatic recognition of the grasped objects with the accuracy of 97.143% for 28 different shapes of objects, while the temperature distribution can also be obtained through the pyroelectric sensor. By leveraging the IoT and artificial intelligence (AI) analytics, a digital-twin-based virtual shop is successfully implemented to provide the users with real-time feedback about the details of the product. In general, by offering a more immersive experience in human-machine interactions, the proposed remote interactive system shows the great potential of being the advanced human-machine interface for the applications of the unmanned working space.

Biomimetic Prosthetic Hand Enabled by Liquid Crystal Elastomer Tendons

As one of the most important prosthetic implants for amputees, current commercially available prosthetic hands are still too bulky, heavy, expensive, complex and inefficient. Here, we present a study that utilizes the artificial tendon to drive the motion of fingers in a biomimetic prosthetic hand. The artificial tendon is realized by combining liquid crystal elastomer (LCE) and liquid metal (LM) heating element. A joule heating-induced temperature increase in the LCE tendon leads to linear contraction, which drives the fingers of the biomimetic prosthetic hand to bend in a way similar to the human hand. The responses of the LCE tendon to joule heating, including temperature increase, contraction strain and contraction stress, are characterized. The strategies of achieving a constant contraction stress in an LCE tendon and accelerating the cooling for faster actuation are also explored. This biomimetic prosthetic hand is demonstrated to be able to perform complex tasks including making different hand gestures, holding objects of different sizes and shapes, and carrying weights. The results can find applications in not only prosthetics, but also robots and soft machines.

The rise of intelligent matter

Artificial intelligence (AI) is accelerating the development of unconventional computing paradigms inspired by the abilities and energy efficiency of the brain. The human brain excels especially in computationally intensive cognitive tasks, such as pattern recognition and classification. A long-term goal is de-centralized neuromorphic computing, relying on a network of distributed cores to mimic the massive parallelism of the brain, thus rigorously following a nature-inspired approach for information processing. Through the gradual transformation of interconnected computing blocks into continuous computing tissue, the development of advanced forms of matter exhibiting basic features of intelligence can be envisioned, able to learn and process information in a delocalized manner. Such intelligent matter would interact with the environment by receiving and responding to external stimuli, while internally adapting its structure to enable the distribution and storage (as memory) of information. We review progress towards implementations of intelligent matter using molecular systems, soft materials or solid-state materials, with respect to applications in soft robotics, the development of adaptive artificial skins and distributed neuromorphic computing.

A fully 3D printed electronic skin with bionic high resolution and air permeable porous structure

The bionic application of electronic skin (e-skin) requires a high resolution close to that of human skin, while its long-term attachment to human body or robotic skin requires a porous structure that is air permeable and enables hair growth. To simultaneously meet the requirements of high resolution and porous structure, as well as improve the sensing performance, we propose a fully 3D printed e-skin with high-resolution and air permeable porous structure. The flexible substrate and electrodes are 3D printed by a direct ink writing extrusion printer. The sensitive material is 3D printed by a self-made low-viscosity liquid extrusion 3D print module. This e-skin has a high sensor density of 100/cm², which is close to the resolution of the human fingertip skin. The piezoresistive sensor units of e-skin exhibit a highly linear resistance response and a relatively performance consistency between devices. Owing to the porous and breathable structure, better human comfort and mechanical heat dissipation are realized. This high-resolution e-skin is successfully applied to identify small-sized objects with complex contours.

Biomimetic Hairy Whiskers for Robotic Skin Tactility

Touch sensing is among the most important sensing capabilities of a human, and the same is true for smart robotics. Current research on tactile sensors is mainly concentrated on electronic skin (e-skin), but e-skin is prone to be easily dirtied, damaged, and disturbed after repeated usage, which greatly limits its practical applications in robotics. Here, by mimicking the way that animals explore the environment using hair-based sensors, a bendable biomimetic whisker mechanoreceptor (BWMR) is designed for robotic tactile sensing. Owing to the advantages of triboelectric nanogenerator technology, the BWMR can convert external mechanical stimuli into electrical signals without a power supply, which is conducive to its widespread applications in robots. Because of the leverage effect of the whisker, the BWMR can distinguish an exciting force of 1.129 μN by amplifying external weak signals, which can be further improved by increasing the whisker length. Real-time sensing is demonstrated using a BWMR, exhibiting its potential for robotic tactile systems.

Somatosensitive film soft crawling robots driven by artificial muscle for load carrying and multi-terrain locomotion

Somatosensitive soft crawling robotics is highly desired for load carrying and multi-terrain locomotion. The motor-driven skeleton robots and pneumatic robots are effective and well-developed, while the bulk size, rigidity, or complexity limit their applications. In this paper, a somatosensitive film soft crawling robot driven by an artificial muscle was developed, which can carry heavy loads and crawl on multiple terrains. A bow-shaped film skeleton connected with a twisted-fiber artificial muscle is not easily deformed while carrying a load. A strain sensor coating on the film skeleton was used to detect the body deformation of the robot and a controller was designed for feedback control to make the robot self-crawling. This film soft crawling robot was demonstrated to crawl on the multi-terrain such as flat, mountainous, and underwater, as well as surfaces with different roughness. This work provides a new design strategy for multi-functional compact soft crawling robotics.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on novel research each year. This review aims to survey fundamental advances in bioinspired soft actuators and sensors with a focus on the progress between 2017 and 2020, providing a primer for the materials used in their design.

Exploiting Mechanical Instabilities in Soft Robotics: Control, Sensing, and Actuation

The rapidly expanding field of soft robotics has provided multiple examples of how entirely soft machines and actuators can outperform conventional rigid robots in terms of adaptability, maneuverability, and safety. Unfortunately, the soft and flexible materials used in their construction impose intrinsic limitations on soft robots, such as low actuation speeds and low output forces. Nature offers multiple examples where highly flexible organisms exploit mechanical instabilities to store and rapidly release energy. Guided by these examples, researchers have recently developed a variety of strategies to overcome speed and power limitations in soft robotics using mechanical instabilities. These mechanical instabilities provide, through rapid transitions from structurally stable states, a new route to achieve high output power amplification and attain impressive actuation speeds. Here, an overview of the literature related to the development of soft robots and actuators that exploit mechanical instabilities to expand their actuation speed, output power, and functionality is presented. Additionally, strategies using structural phase transitions to address current challenges in the area of soft robotic control, sensing, and actuation are discussed. Approaches using instabilities to create entirely soft logic modules to imbue soft robots with material intelligence and distributed computational capabilities are also reviewed.