Biomimetic Hairy Whiskers for Robotic Skin Tactility

Three-Dimensionally Architected Tactile Electronic Skins

Tactile electronic skins (e-skins) are flexible electronic devices that aim to replicate tactile sensing capabilities of the human skin, while possessing skin-like geometric features and materials properties. Since the human skin is composed of complex 3D constructions, where the various types of mechanoreceptors are distributed in a spatial layout, an important trend of tactile e-skin development involves introduction of 3D device architectures that can replicate certain structural features of human skins. The resulting 3D architected e-skins have demonstrated advantages in the detection of shear forces and the decoupled perception of multiple mechanical stimuli, which are of pivotal importance in many application scenarios. In this perspective, we summarize the main biological prototypes of existing 3D architected e-skins, and focus on the key 3D architectures related to tactile sensing capabilities. Then we highlight the enhanced tactile perception of 3D architected e-skins in terms of the super-resolution tactile sensing and predictions of diverse physical properties and surface features of an object, which allow for a broad spectrum of practical applications, such as object recognition, human-machine interactions, dexterous manipulation, and health monitoring. Finally, we discuss scientific challenges and opportunities for future developments of 3D architected tactile e-skins.

Achieving Zero Leakage, Ultralong Lifespan, and Intrinsic Opening Sensing in Microvalves Through Structural Superlubrication and Triboelectric Nanogenerator Technologies

Valves are critical components in advanced fluid control systems (AFCS) and play a vital role in applications such as soft robotics and medical devices. Traditional mechanical valves often suffer from issues such as leakage and wear, which compromise the efficiency and precision of air-driven systems. Here, a superlubricity microvalve (SLMV) is developed with characteristics of zero leakage, ultralong lifespan, and self-sensing capabilities. The SLMV demonstrates zero helium leakage at pressures exceeding 0.9 MPa, and remains defect-free after one million collision tests and 5000 reciprocating sliding friction tests. Additionally, the valve features self-powered sensing that can detect its own open status, and thus enhances the self-feedback control. AFCS equipped with SLMVs may significantly improve the flexibility and functionality of pneumatic robots, facilitating the development of implantable drug delivery devices that are more durable, compact, safe, and reliable.

Preparation of Ion Composite Photosensitive Resin and Its Application in 3D-Printing Highly Sensitive Pressure Sensor

Flexible pressure sensors play an extremely important role in the fields of intelligent medical treatment, humanoid robots, and so on. However, the low sensitivity and the small initial capacitance still limit its application and development. At present, the method of constructing the microstructure of the dielectric layer is commonly used to improve the sensitivity of the sensor, but there are some problems, such as the complex process and inaccurate control of the microstructure. In this work, an ion composite photosensitive resin based on polyurethane acrylate and ionic liquids (ILs) was prepared. The high compatibility of the photosensitive resin and ILs was achieved by adding a chitooligosaccharide (COS) chain extender. The microstructure of the dielectric layer was optimized by digital light processing (DLP) 3D-printing. Due to the introduction of ILs to construct an electric double layer (EDL), the flexible pressure sensor exhibits a high sensitivity of 32.62 kPa-1, which is 12.2 times higher than that without ILs. It also has a wide range of 100 kPa and a fast response time of 51 ms. It has a good pressure response under different pressures and can realize the demonstration application of human health.

Flexible electronic brush: Real-time multimodal sensing powered by reservoir computing through whisker dynamics

Multimodal sensing using soft body dynamics plays a crucial role in controlling soft robotic motions. An intriguing application of such soft robot control is to mimic whiskers and digitize soft body motion through whisker dynamics. The challenge herein is to simultaneously monitor the directions, speed, force, and slip information of the whisker motion. The existing whisker-like sensors cannot detect slip information effectively. To address this challenge, this study develops a multitasking electronic brush (e-brush) composed of bundle of whiskers powered by reservoir computing (RC). Four pressure sensors are integrated into the brush to monitor its motion, speed, force, slip, and target surface. These sensors can provide long-term, low-pressure detection as low as 50 pascals, allowing for the precise monitoring of brush movements. A RC algorithm is developed to extract multiple brush motion parameters, including the slip. As a proof of concept for multitasking e-brush, the motion trajectory of handwriting is successfully detected.

Bionic Recognition Technologies Inspired by Biological Mechanosensory Systems

Mechanical information is a medium for perceptual interaction and health monitoring of organisms or intelligent mechanical equipment, including force, vibration, sound, and flow. Researchers are increasingly deploying mechanical information recognition technologies (MIRT) that integrate information acquisition, pre-processing, and processing functions and are expected to enable advanced applications. However, this also poses significant challenges to information acquisition performance and information processing efficiency. The novel and exciting mechanosensory systems of organisms in nature have inspired us to develop superior mechanical information bionic recognition technologies (MIBRT) based on novel bionic materials, structures, and devices to address these challenges. Herein, first bionic strategies for information pre-processing are presented and their importance for high-performance information acquisition is highlighted. Subsequently, design strategies and considerations for high-performance sensors inspired by mechanoreceptors of organisms are described. Then, the design concepts of the neuromorphic devices are summarized in order to replicate the information processing functions of a biological nervous system. Additionally, the ability of MIBRT is investigated to recognize basic mechanical information. Furthermore, further potential applications of MIBRT in intelligent robots, healthcare, and virtual reality are explored with a view to solve a range of complex tasks. Finally, potential future challenges and opportunities for MIBRT are identified from multiple perspectives.

Recent Progress on Flexible Self-Powered Tactile Sensing Platforms for Health Monitoring and Robotics

Over the past decades, tactile sensing technology has made significant advances in the fields of health monitoring and robotics. Compared to conventional sensors, self-powered tactile sensors do not require an external power source to drive, which makes the entire system more flexible and lightweight. Therefore, they are excellent candidates for mimicking the tactile perception functions for wearable health monitoring and ideal electronic skin (e-skin) for intelligent robots. Herein, the working principles, materials, and device fabrication strategies of various self-powered tactile sensing platforms are introduced first. Then their applications in health monitoring and robotics are presented. Finally, the future prospects of self-powered tactile sensing systems are discussed.

Biomechanics on Ultra-Sensitivity of Venus Flytrap's Micronewton Trigger Hairs

Numerous plants evolve ingeniously microcantilever-based hairs to ultra-sensitively detect out-of-plane quasi-static tactile loads, providing a natural blueprint for upgrading the industrial static mode microcantilever sensors, but how do the biological sensory hairs work mechanically? Here, the action potential-producing trigger hairs of carnivorous Venus flytraps (Dionaea muscipula) are investigated in detail from biomechanical perspective. Under tiny mechanical stimulation, the deformable trigger hair, composed of distal stiff lever and proximal flexible podium, will lead to rapid trap closure and prey capture. The multiple features determining the sensitivity such as conical morphology, multi-scale functional structures, kidney-shaped sensory cells, and combined deformation under tiny mechanical stimulation are comprehensively researched. Based on materials mechanics, finite element simulation, and bio-inspired original artificial sensors, it is verified that the omnidirectional ultra-sensitivity of trigger hair is attributed to the stiff-flexible coupling of material, the double stress concentration, the circular distribution of sensory cells, and the positive local buckling. Also, the balance strategy of slender hair between sensitivity and structural stability (i.e., avoiding disastrous collapse) is detailed revealed. The unique basic biomechanical mechanism underlying trigger hairs is essential for significantly enhancing the performance of the traditional industrial static mode microcantilever sensors, and ensure the stability of arbitrary load perception.

Flexible Artificial Tactility with Excellent Robustness and Temperature Tolerance Based on Organohydrogel Sensor Array for Robot Motion Detection and Object Shape Recognition

Hydrogel-based flexible artificial tactility is equipped to intelligent robots to mimic human mechanosensory perception. However, it remains a great challenge for hydrogel sensors to maintain flexibility and sensory performances during cyclic loadings at high or low temperatures due to water loss or freezing. Here, a flexible robot tactility is developed with high robustness based on organohydrogel sensor arrays with negligent hysteresis and temperature tolerance. Conductive polyaniline chains are interpenetrated through a poly(acrylamide-co-acrylic acid) network with glycerin/water mixture with interchain electrostatic interactions and hydrogen bonds, yielding a high dissipated energy of 1.58 MJ m-3, and ultralow hysteresis during 1000 cyclic loadings. Moreover, the binary solvent provides the gels with outstanding tolerance from -100 to 60 °C and the organohydrogel sensors remain flexible, fatigue resistant, conductive (0.27 S m-1), highly strain sensitive (GF of 3.88) and pressure sensitive (35.8 MPa-1). The organohydrogel sensor arrays are equipped on manipulator finger dorsa and pads to simultaneously monitor the finger motions and detect the pressure distribution exerted by grasped objects. A machine learning model is used to train the system to recognize the shape of grasped objects with 100% accuracy. The flexible robot tactility based on organohydrogels is promising for novel intelligent robots.

Self-Powered Traffic Lights Through Wind Energy Harvesting Based on High-Performance Fur-Brush Dish Triboelectric Nanogenerators

Traffic lights play vital roles in urban traffic management systems, providing clear directional guidance for vehicles and pedestrians while ensuring traffic safety. However, the vast quantity of traffic lights widely distributed in the transportation system aggravates energy consumption. Here, a self-powered traffic light system is proposed through wind energy harvesting based on a high-performance fur-brush dish triboelectric nanogenerator (FD-TENG). The FD-TENG harvests wind energy to power the traffic light system continuously without needing an external power supply. Natural rabbit furs are applied to dish structures, due to their outstanding characteristics of shallow wear, high performance, and resistance to humidity. Also, the grid pattern of the dish structure significantly impacts the TENG outputs. Additionally, the internal electric field and the influences of mechanical and structural parameters on the outputs are analyzed by finite element simulations. After optimization, the FD-TENG can achieve a peak power density of 3.275 W m-3. The portable and miniature features of FD-TENG make it suitable for other natural environment systems such as forests, oceans, and mountains, besides the traffic light systems. This study presents a viable strategy for self-powered traffic lights, establishing a basis for efficient environmental energy harvesting toward big data and Internet of Things applications.

Toward an AI Era: Advances in Electronic Skins

Electronic skins (e-skins) have seen intense research and rapid development in the past two decades. To mimic the capabilities of human skin, a multitude of flexible/stretchable sensors that detect physiological and environmental signals have been designed and integrated into functional systems. Recently, researchers have increasingly deployed machine learning and other artificial intelligence (AI) technologies to mimic the human neural system for the processing and analysis of sensory data collected by e-skins. Integrating AI has the potential to enable advanced applications in robotics, healthcare, and human-machine interfaces but also presents challenges such as data diversity and AI model robustness. In this review, we first summarize the functions and features of e-skins, followed by feature extraction of sensory data and different AI models. Next, we discuss the utilization of AI in the design of e-skin sensors and address the key topic of AI implementation in data processing and analysis of e-skins to accomplish a range of different tasks. Subsequently, we explore hardware-layer in-skin intelligence before concluding with an analysis of the challenges and opportunities in the various aspects of AI-enabled e-skins.

Nanoengineering Ultrathin Flexible Pressure Sensors with Superior Sensitivity and Wide Range via Nanocomposite Structures

Flexible pressure sensors have attracted great interest due to their bendable, stretchable, and lightweight characteristics compared to rigid pressure sensors. However, the contradictions among sensitivity, detection limit, thickness, and detection range restrict the performance of flexible pressure sensors and the scope of their applications, especially for scenarios requiring conformal fitting, such as rough surfaces such as the human skin. This paper proposes a novel flexible pressure sensor by combining the nanoengineering strategy and nanocomposite structures. The nanoengineering strategy utilizes the bending deformation of nanofilm instead of the compression of the active layer to achieve super high sensitivity and low detection limit; meanwhile, the nanocomposite structures introduce distributed microbumps that delay the adhesion of nanofilm to enlarge the detection range. As a result, this device not only ensures an ultrathin thickness of 1.6 μm and a high sensitivity of 84.29 kPa-1 but also offers a large detection range of 20 kPa and an ultralow detection limit of 0.07 Pa. Owing to the ultrathin thickness as well as high performance, this device promotes applications in detecting fingertip pressure, flexible mechanical gripping, and so on, and demonstrates significant potential in wearable electronics, human-machine interaction, health monitoring, and tactile perception. This device offers a strategy to resolve the conflicts among thickness, sensitivity, detection limit, and detection range; therefore, it will advance the development of flexible pressure sensors and contribute to the community and other related research fields.

What Exactly Can Bionic Strategies Achieve for Flexible Sensors?

Flexible sensors have attracted great attention in the field of wearable electronic devices due to their deformability, lightness, and versatility. However, property improvement remains a key challenge. Fortunately, natural organisms exhibit many unique response mechanisms to various stimuli, and the corresponding structures and compositions provide advanced design ideas for the development of flexible sensors. Therefore, this Review highlights recent advances in sensing performance and functional characteristics of flexible sensors from the perspective of bionics for the first time. First, the "twins" of bionics and flexible sensors are introduced. Second, the enhancements in electrical and mechanical performance through bionic strategies are summarized according to the prototypes of humans, plants, and animals. Third, the functional characteristics of bionic strategies for flexible sensors are discussed in detail, including self-healing, color-changing, tangential force, strain redistribution, and interfacial resistance. Finally, we summarize the challenges and development trends of bioinspired flexible sensors. This Review aims to deepen the understanding of bionic strategies and provide innovative ideas and references for the design and manufacture of next-generation flexible sensors.

Bionic e-skin with precise multi-directional droplet sliding sensing for enhanced robotic perception

Electronic skins with deep and comprehensive liquid information detection are desired to endow intelligent robotic devices with augmented perception and autonomous regulation in common droplet environments. At present, one technical limitation of electronic skins is the inability to perceive the liquid sliding information as realistically as humans and give feedback in time. To this critical challenge, in this work, a self-powered bionic droplet electronic skin is proposed by constructing an ingenious co-layer interlaced electrode network and using an overpass connection method. The bionic skin is used for droplet environment reconnaissance and converts various dynamic droplet sliding behaviors into electrical signals based on triboelectricity. More importantly, the two-dimensional sliding behavior of liquid droplets is comprehensively perceived by the e-skin and visually fed back in real-time on an indicator. Furthermore, the flow direction warning and intelligent closed-loop control of water leakage are also achieved by this e-skin, achieving the effect of human neuromodulation. This strategy compensates for the limitations of e-skin sensing droplets and greatly narrows the gap between artificial e-skins and human skins in perceiving functions.

Functional fibrillar interfaces: Biological hair as inspiration across scales

Hair, or hair-like fibrillar structures, are ubiquitous in biology, from fur on the bodies of mammals, over trichomes of plants, to the mastigonemes on the flagella of single-celled organisms. While these long and slender protuberances are passive, they are multifunctional and help to mediate interactions with the environment. They provide thermal insulation, sensory information, reversible adhesion, and surface modulation (e.g., superhydrophobicity). This review will present various functions that biological hairs have been discovered to carry out, with the hairs spanning across six orders of magnitude in size, from the millimeter-thick fur of mammals down to the nanometer-thick fibrillar ultrastructures on bateriophages. The hairs are categorized according to their functions, including protection (e.g., thermal regulation and defense), locomotion, feeding, and sensing. By understanding the versatile functions of biological hairs, bio-inspired solutions may be developed across length scales.

Biomimetic Multimodal Receptors for Comprehensive Artificial Human Somatosensory System

Electronic skin (e-skin) capable of acquiring environmental and physiological information has attracted interest for healthcare, robotics, and human-machine interaction. However, traditional 2D e-skin only allows for in-plane force sensing, which limits access to comprehensive stimulus feedback due to the lack of out-of-plane signal detection caused by its 3D structure. Here, a dimension-switchable bioinspired receptor is reported to achieve multimodal perception by exploiting film kirigami. It offers the detection of in-plane (pressure and bending) and out-of-plane (force and airflow) signals by dynamically inducing the opening and reclosing of sensing unit. The receptor's hygroscopic and thermoelectric properties enable the sensing of humidity and temperature. Meanwhile, the thermoelectric receptor can differentiate mechanical stimuli from temperature by the voltage. The development enables a wide range of sensory capabilities of traditional e-skin and expands the applications in real life.

An all-optical multidirectional mechano-sensor inspired by biologically mechano-sensitive hair sensilla

Mechano-sensitive hair-like sensilla (MSHS) have an ingenious and compact three-dimensional structure and have evolved widely in living organisms to perceive multidirectional mechanical signals. Nearly all MSHS are iontronic or electronic, including their biomimetic counterparts. Here, an all-optical mechano-sensor mimicking MSHS is prototyped and integrated based on a thin-walled glass microbubble as a flexible whispering-gallery-mode resonator. The minimalist integrated device has a good directionality of 32.31 dB in the radial plane of the micro-hair and can detect multidirectional displacements and forces as small as 70 nm and 0.9 μN, respectively. The device can also detect displacements and forces in the axial direction of the micro-hair as small as 2.29 nm and 3.65 μN, respectively, and perceive different vibrations. This mechano-sensor works well as a real-time, directional mechano-sensory whisker in a quadruped cat-type robot, showing its potential for innovative mechano-transduction, artificial perception, and robotics applications.

Viscoelastic blood coagulation testing system enabled by a non-contact triboelectric angle sensor

Thromboelastography (TEG) remains a convenient and effective viscoelastic blood coagulation testing device for guiding blood component transfusion and assessing the risk of thrombosis. Here, a TEG enabled by a non-contact triboelectric angle sensor (NTAS) with a small size (∼7 cm3) is developed for assessing the blood coagulation system. With the assistance of a superelastic torsion wire structure, the NTAS-TEG realizes the detection of blood viscoelasticity. Benefiting from a grating and convex design, the NTAS holds a collection of compelling features, including accurate detection of rotation angles from -2.5° to 2.5°, high linearity (R 2 = 0.999), and a resolution of 0.01°. Besides, the NTAS exhibits merits of low cost and simplified fabrication. Based on the NTAS-TEG, a viscoelastic blood coagulation detection and analysis system is successfully constructed, which can provide a graph and parameters associated with clot initiation, formation, and stability for clinicians by using 0.36 mL of whole blood. The system not only validates the feasibility of the triboelectric coagulation testing sensor, but also further expands the application of triboelectric sensors in healthcare.

Biomimetic Wearable Sensors: Emerging Combination of Intelligence and Electronics

Owing to the advancement of interdisciplinary concepts, for example, wearable electronics, bioelectronics, and intelligent sensing, during the microelectronics industrial revolution, nowadays, extensively mature wearable sensing devices have become new favorites in the noninvasive human healthcare industry. The combination of wearable sensing devices with bionics is driving frontier developments in various fields, such as personalized medical monitoring and flexible electronics, due to the superior biocompatibilities and diverse sensing mechanisms. It is noticed that the integration of desired functions into wearable device materials can be realized by grafting biomimetic intelligence. Therefore, herein, the mechanism by which biomimetic materials satisfy and further enhance system functionality is reviewed. Next, wearable artificial sensory systems that integrate biomimetic sensing into portable sensing devices are introduced, which have received significant attention from the industry owing to their novel sensing approaches and portabilities. To address the limitations encountered by important signal and data units in biomimetic wearable sensing systems, two paths forward are identified and current challenges and opportunities are presented in this field. In summary, this review provides a further comprehensive understanding of the development of biomimetic wearable sensing devices from both breadth and depth perspectives, offering valuable guidance for future research and application expansion of these devices.

Mechanosensor for Proprioception Inspired by Ultrasensitive Trigger Hairs of Venus Flytrap

Mechanosensors, as the core component of a proprioceptive system, can detect many types of mechanical signals in their surroundings, such as force signals, displacement signals, and vibration signals. It is understandable that the development of an all-new mechanosensory structure that can be widely used is highly desirable. This is because it can markedly improve the detection performance of mechanosensors. Coincidentally, in nature, optimized microscale trigger hairs of Venus flytrap are ingeniously used as a mechanosensory structure. These trigger hairs are utilized for tactile mechanosensilla to efficiently detect external mechanical stimuli. Biological trigger hair-based mechanosensilla offer an all-new bio-inspired strategy. This strategy utilizes the notch structure and variable stiffness to enhance the perceptual performance of mechanosensors. In this study, the structure-performance-application coupling relationship of trigger hair-based mechanosensors is explored through experiment and analysis. An artificial trigger hair-based mechanosensor is developed by mimicking the deformation properties of the Venus flytrap trigger hair. This bio-inspired mechanosensor shows excellent performance in terms of mechanical stability, response time, and sensitivity to mechanical signals.

Bioinspired nanoplatforms for human-machine interfaces: Recent progress in materials and device applications

The panoramic characteristics of human-machine interfaces (HMIs) have prompted the needs to update the biotechnology community with the recent trends, developments, and future research direction toward next-generation bioelectronics. Bioinspired materials are promising for integrating various bioelectronic devices to realize HMIs. With the advancement of scientific biotechnology, state-of-the-art bioelectronic applications have been extensively investigated to improve the quality of life by developing and integrating bioinspired nanoplatforms in HMIs. This review highlights recent trends and developments in the field of biotechnology based on bioinspired nanoplatforms by demonstrating recently explored materials and cutting-edge device applications. Section 1 introduces the recent trends and developments of bioinspired nanomaterials for HMIs. Section 2 reviews various flexible, wearable, biocompatible, and biodegradable nanoplatforms for bioinspired applications. Section 3 furnishes recently explored substrates as carriers for advanced nanomaterials in developing HMIs. Section 4 addresses recently invented biomimetic neuroelectronic, nanointerfaces, biointerfaces, and nano/microfluidic wearable bioelectronic devices for various HMI applications, such as healthcare, biopotential monitoring, and body fluid monitoring. Section 5 outlines designing and engineering of bioinspired sensors for HMIs. Finally, the challenges and opportunities for next-generation bioinspired nanoplatforms in extending the potential on HMIs are discussed for a near-future scenario. We believe this review can stimulate the integration of bioinspired nanoplatforms into the HMIs in addition to wearable electronic skin and health-monitoring devices while addressing prevailing and future healthcare and material-related problems in biotechnologies.

Nanofibrous PAN-PDMS Films-Based High-Performance Triboelectric Artificial Whisker for Self-Powered Obstacle Detection

Avoiding collisions is a key necessity for any autonomous mobile robot, and obstacle mapping enables them to maneuver in an uncharted area. In this era of the Internet of Things, with the emerging need for a multitude of sensors, adopting self-powered technologies is more practically viable than batteries for powering the same. Herein, with the fabrication of a triboelectric artificial whisker (TAW), a self-powered obstacle detection is demonstrated via tactile perception. The mechanical contact with the obstacle gives rise to an electrical signal from the TAW owing to the embedded triboelectric sensor. In addition, the triboelectric nanogenerator (TENG) based on electrospun polyacrylonitrile (PAN) nanofibers and polydimethylsiloxane film, which facilitates this self-powered artificial sensation, generates an output voltage of 720 V and current density of 5 mA m-2 with 1.7 W m-2 of maximum power delivery from a force of 10 N. The electro-spinning aided enhancement in contact area of the PAN is responsible for the remarkable improvement in the performance of the TENG, 3.4 times enhancement in power density, when compared to the nonsurface-modified ones. In addition, the TENG is able to charge commercial capacitors up to appreciable values and demonstrates powering different electronic gadgets such as calculators and thermometers.

Recent advances in smart wearable sensors as electronic skin

Flexible and multifunctional electronic devices and soft robots inspired by human organs, such as skin, have many applications. However, the emergence of electronic skins (e-skins) or textiles in biomedical engineering has made a great revolution in a myriad of people's lives who suffer from different types of diseases and problems in which their skin and muscles lose their appropriate functions. In this review, recent advances in the sensory function of the e-skins are described. Furthermore, we have categorized them from the sensory function perspective and highlighted their advantages and limitations. The categories are tactile sensors (including capacitive, piezoresistive, piezoelectric, triboelectric, and optical), temperature, and multi-sensors. In addition, we summarized the most recent advancements in sensors and their particular features. The role of material selection and structure in sensory function and other features of the e-skins are also discussed. Finally, current challenges and future prospects of these systems towards advanced biomedical applications are elaborated.

3D-Printed Artificial Cilia Arrays: A Versatile Tool for Customizable Mechanosensing

Bio-inspired cilium-based mechanosensors offer a high level of responsiveness, making them suitable for a wide range of industrial, environmental, and biomedical applications. Despite great promise, the development of sensors with multifunctionality, scalability, customizability, and sensing linearity presents challenges due to the complex sensing mechanisms and fabrication methods involved. To this end, high-aspect-ratio polycaprolactone/graphene cilia structures with high conductivity, and facile fabrication are employed to address these challenges. For these 3D-printed structures, an "inter-cilium contact" sensing mechanism that enables the sensor to function akin to an on-off switch, significantly enhancing sensitivity and reducing ambiguity in detection, is proposed. The cilia structures exhibit high levels of customizability, including thickness, height, spacing, and arrangement, while maintaining mechanical robustness. The simplicity of the sensor design enables highly sensitive detection in diverse applications, encompassing airflow and water flow monitoring, braille detection, and debris recognition. Overall, the unique conductive cilia-based sensing mechanism that is proposed brings several advantages, advancing the development of multi-sensing capabilities and flexible electronic skin applications in smart robotics and human prosthetics.

Construction of Wearable Touch Sensors by Mimicking the Properties of Materials and Structures in Nature

Wearable touch sensors, which can convert force or pressure signals into quantitative electronic signals, have emerged as essential smart sensing devices and play an important role in various cutting-edge fields, including wearable health monitoring, soft robots, electronic skin, artificial prosthetics, AR/VR, and the Internet of Things. Flexible touch sensors have made significant advancements, while the construction of novel touch sensors by mimicking the unique properties of biological materials and biogenetic structures always remains a hot research topic and significant technological pathway. This review provides a comprehensive summary of the research status of wearable touch sensors constructed by imitating the material and structural characteristics in nature and summarizes the scientific challenges and development tendencies of this aspect. First, the research status for constructing flexible touch sensors based on biomimetic materials is summarized, including hydrogel materials, self-healing materials, and other bio-inspired or biomimetic materials with extraordinary properties. Then, the design and fabrication of flexible touch sensors based on bionic structures for performance enhancement are fully discussed. These bionic structures include special structures in plants, special structures in insects/animals, and special structures in the human body. Moreover, a summary of the current issues and future prospects for developing wearable sensors based on bio-inspired materials and structures is discussed.

A nanonewton-scale biomimetic mechanosensor

Biomimetic mechanosensors have profound implications for various areas, including health care, prosthetics, human‒machine interfaces, and robotics. As one of the most important parameters, the sensitivity of mechanosensors is intrinsically determined by the detection resolution to mechanical force. In this manuscript, we expand the force detection resolution of current biomimetic mechanosensors from the micronewton to nanonewton scale. We develop a nanocrack-based electronic whisker-type mechanosensor that has a detection resolution of 72.2 nN. We achieve the perception of subtle mechanical stimuli, such as tiny objects and airflow, and the recognition of surface morphology down to a 30 nm height, which is the finest resolution ever reported in biomimetic mechanosensors. More importantly, we explore the use of this mechanosensor in wearable devices for sensing gravity field orientation with respect to the body, which has not been previously achieved by these types of sensors. We develop a wearable smart system for sensing the body's posture and movements, which can be used for remote monitoring of falls in elderly people. In summary, the proposed device offers great advantages for not only improving sensing ability but also expanding functions and thus can be used in many fields not currently served by mechanosensors.

Multiangle, self-powered sensor array for monitoring head impacts

Mild concussions occur frequently and may come with long-term cognitive, affective, and physical sequelae. However, the diagnosis of mild concussions lacks objective assessment and portable monitoring techniques. Here, we propose a multiangle self-powered sensor array for real-time monitoring of head impact to further assist in clinical analysis and prevention of mild concussions. The array uses triboelectric nanogenerator technology, which converts impact force from multiple directions into electrical signals. With an average sensitivity of 0.214 volts per kilopascal, a response time of 30 milliseconds, and a minimum resolution of 1.415 kilopascals, the sensors exhibit excellent sensing capability over a range of 0 to 200 kilopascals. Furthermore, the array enables reconstructed head impact mapping and injury grade assessment via a prewarning system. By gathering standardized data, we expect to build a big data platform that will permit in-depth research of the direct and indirect effects between head impacts and mild concussions in the future.

Advances in Biodegradable Electronic Skin: Material Progress and Recent Applications in Sensing, Robotics, and Human-Machine Interfaces

The rapid growth of the electronics industry and proliferation of electronic materials and telecommunications technologies has led to the release of a massive amount of untreated electronic waste (e-waste) into the environment. Consequently, catastrophic environmental damage at the microbiome level and serious human health diseases threaten the natural fate of the planet. Currently, the demand for wearable electronics for applications in personalized medicine, electronic skins (e-skins), and health monitoring is substantial and growing. Therefore, "green" characteristics such as biodegradability, self-healing, and biocompatibility ensure the future application of wearable electronics and e-skins in biomedical engineering and bioanalytical sciences. Leveraging the biodegradability, sustainability, and biocompatibility of natural materials will dramatically influence the fabrication of environmentally friendly e-skins and wearable electronics. Here, the molecular and structural characteristics of biological skins and artificial e-skins are discussed. The focus then turns to the biodegradable materials, including natural and synthetic-polymer-based materials, and their recent applications in the development of biodegradable e-skin in wearable sensors, robotics, and human-machine interfaces (HMIs). Finally, the main challenges and outlook regarding the preparation and application of biodegradable e-skins are critically discussed in a near-future scenario, which is expected to lead to the next generation of biodegradable e-skins.

Bioinspired robot skin with mechanically gated electron channels for sliding tactile perception

Human-like tactile perception is critical for promoting robotic intelligence. However, reproducing tangential "sliding" perception of human skin is still struggling. Inspired by the lateral gating mechanosensing mechanism of mechanosensory cells, which perceives mechanical stimuli by lateral tension-induced opening-closing of ion channels, we report a robot skin (R-skin) with mechanically gated electron channels, achieving ultrasensitive and fast-response sliding tactile perception via pyramidal artificial fingerprint-triggered opening-closing of electron gates (E-gates, namely, customized V-shaped cracks within embedded mesh electron channels). By imitating cytomembrane to modulate membrane mechanics, local strain is enhanced at E-gates to effectively regulate electron pathways for high sensitivity while weakened at other positions to suppress random cracks for robust stability. The R-skin can directly recognize ultrafine surface microstructure (5 μm) at a response frequency (485 Hz) outshining humans and achieve human-like sliding perception functions, including dexterously distinguishing texture of complex-shaped objects and providing real-time feedback for grasping.

Application of Triboelectric Nanogenerator in Fluid Dynamics Sensing: Past and Future

The triboelectric nanogenerator (TENG) developed by Z. L. Wang's team to harvest random mechanical energy is a promising new energy source for distributed sensing systems in the new era of the internet of things (IoT) and artificial intelligence (AI) for a smart world. TENG has many advantages that make it suitable for a wide range of applications, including energy harvesting, environmental protection, wearable electronics, robotics, and self-powered sensors. Sensing as an important part of TENG applications is gradually expanding, with the in-depth study of TENG sensing in its working principle, material selection, processing technology, system integration, surface treatment, and back-end algorithms by researchers. In industry and academia, fluid dynamics sensing for liquid and air is urgently needed but lacking. In particular, local fluid sensing is difficult and limited to traditional sensors. Fortunately, with advantages for ordinary TENGs and TENGs as fluid dynamics sensors, fluid dynamics sensing can be better realized. Therefore, the paper summarizes the up-to-date work on TENGs as fluid dynamics sensors, discusses the advantages of TENGs as fluid dynamics sensors in-depth, and, most importantly, aims to explore possible new key areas to help guide the future direction of TENG in fluid dynamics sensing by addressing the key challenges.

Bioinspired gelatin nano-film implanted into composite scaffold exhibiting both expandable adhesion and enhanced proliferation

Tissue engineering technology provides a new treatment to the cartilage damage. Recent progress has focused on coating strategies with the printed scaffold surface, using various materials such as bioactive nanocomposites. However, the fracture and exfoliation of printed scaffolds remain challenges due to their poor adhesion on smooth substrates. These limitations can be offset by developing a versatile film. Here, inspired by the mechanism of the wet adhesion of snails, we introduced a biomimetic nanoscale gelatin film between a smooth conductive slide and a scaffold, which enhanced early cell adhesion rates through water absorption, swelling and adhesion. A bionic technique of preparing gelatin nanofilms and PVP/PCL 3D scaffolds, which involved E-Jet atomization deposition and E-Jet printing techniques based on the electrohydrodynamic effect, was investigated. It is found that the composite scaffold with 400 nm gelatin nanofilm significantly enhances cell attachment (from 62 % to 87 %) and proliferation (increased 6.5 times in 7 days). Collectively, this study highlights the combination of biomimetic nanoscale adhesive film in promoting cell adhesion and cartilage differentiation, which benefiting from water absorption and swelling of gelatin nanofilm. This work provides a new idea for the potential application in the orthopedics field.

Bio-Inspired Mechano-Sensor Based on the Deformation of Slit Wake

Internal mechano-sensors, as an indispensable part of the proprioceptive system of intelligent equipment, have attracted enormous research interest because of their extremely crucial role in monitoring machining processes, real-time diagnosis of equipment faults, adaptive motor control and so on. The mechano-sensory structure with signal-transduction function is an important factor in determining the sensing performance of a mechano-sensor. However, contrary to the wide application of the cantilever beam as the sensory structure of external mechano-sensors in order to guarantee their exteroceptive ability, there is still a lack of an effective and widely used sensory structure to significantly improve the sensing performance of internal mechano-sensors. Here, inspired by the scorpion using the specialized slit as the sensory structure of internal mechano-sensilla, the slit is ingeniously used in the design of the engineered internal mechano-sensor. In order to improve the deformability of the slit wake, the hollowed-out design around the slit tail of biological mechano-sensilla is researched. Meanwhile, to mimic the easily deformed flexible cuticular membrane covering the slit, the ultrathin, flexible, crack-based strain sensor is used as the sensing element to cover the controllable slit wake. Based on the coupling deformation of the slit wake, as well as the flexible strain sensor, the slit-based mechano-sensor shows excellent sensing performance to various mechanical signals such as displacement and vibration signals.

A Self-Powered Dual-Type Signal Vector Sensor for Smart Robotics and Automatic Vehicles

Automatic control systems are the most efficient technology for reducing labor cost while improving work efficiency. Vector motion monitoring is indispensable for the normal operation of automatic control systems. Here, a self-powered dual-type signal triboelectric nanogenerator (DS-TENG) is designed through integrating an alternating-current TENG and a direct-current TENG, which can monitor vector movement in real time based on pulse signal counts. As a result, the DS-TENG avoids the shortcoming of traditional self-powered sensors based on signal amplitude that is sensitive to the working environment, achieves a high sensing precision, and maintains stability after reciprocating motion of 500 000 cycles. Moreover, it realizes effective movement direction recognition by self-powered switching of signal type in reverse movement. This dual-type signal TENG exhibits high precision and automatic direction recognition in vector motion monitor and trajectory tracker, paving the way for the application of the self-powered TENG sensor in automatic control systems in the future.

Ultrathin Eardrum-Inspired Self-Powered Acoustic Sensor for Vocal Synchronization Recognition with the Assistance of Machine Learning

With the rapid development of human-machine interfaces, artificial acoustic sensors play an important role in the hearing impaired. Here, an ultrathin eardrum-like triboelectric acoustic sensor (ETAS) is presented consisting of silver-coated nanofibers, whose thickness is only 40 µm. The sensitivity and frequency response range of the ETAS are closely related to the geometric parameters. The ETAS endows a high sensitivity of 228.5 mV Pa^-1 at 95 dB, and the ETAS has a broad frequency response ranging from 20 to 5000 Hz, which can be tuned by adjusting the thickness, size, or shape of the sensor. Cooperating with artificial intelligence (AI) algorithms, the ETAS can achieve real-time voice conversion with a high identification accuracy of 92.64%. Under good working property and the AI system, the ETAS simplifies signal processing and reduces the power consumption. This work presents a strategy for self-power auditory systems, which can greatly accelerate the miniaturization of self-powered systems used in wearable electronics, augmented reality, virtual reality, and control hubs for automation.

Self-Powered Artificial Mechanoreceptor Based on Triboelectrification for a Neuromorphic Tactile System

A self-powered artificial mechanoreceptor module is demonstrated with a triboelectric nanogenerator (TENG) as a pressure sensor with sustainable energy harvesting and a biristor as a neuron. By mimicking a biological mechanoreceptor, it simultaneously detects the pressure and encodes spike signals to act as an input neuron of a spiking neural network (SNN). A self-powered neuromorphic tactile system composed of artificial mechanoreceptor modules with an energy harvester can greatly reduce the power consumption compared to the conventional tactile system based on von Neumann computing, as the artificial mechanoreceptor module itself does not demand an external energy source and information is transmitted with spikes in a SNN. In addition, the system can detect low pressures near 3 kPa due to the high output range of the TENG. It therefore can be advantageously applied to robotics, prosthetics, and medical and healthcare devices, which demand low energy consumption and low-pressure detection levels. For practical applications of the neuromorphic tactile system, classification of handwritten digits is demonstrated with a software-based simulation. Furthermore, a fully hardware-based breath-monitoring system is implemented using artificial mechanoreceptor modules capable of detecting wind pressure of exhalation in the case of pulmonary respiration and bending pressure in the case of abdominal breathing.

Rehabilitation of Total Knee Arthroplasty by Integrating Conjoint Isometric Myodynamia and Real-Time Rotation Sensing System

As the world population structure has already exhibited an inevitable trend of aging, technical advances that can provide better eldercare are highly desired. Knee osteoarthritis, one of the most common age-associated diseases, can be effectively treated via total knee arthroplasty (TKA). However, patients are suffering from the recovery process due to inconvenience in post-hospital treatment. Here, a portable, modular, and wearable brace for self-assessment of TKA patients' rehabilitation is reported. This system mainly consists of a force transducer for isometric muscle strength measurement and an active angle sensor for knee bending detection. Clinical experiments on TKA patients demonstrate the feasibility and significance of the system. Specifically, via brace-based personalized healthcare, the TKA patients' rehabilitation process is quantified in terms of myodynamia, and a definite rehabilitation enhancement is obtained. Additionally, new indicators, that is, isometric muscle test score, for evaluating TKA rehabilitation are proposed. It is anticipated that, as the cloud database is employed and more rehabilitation data are collected in the near future, the brace system can not only facilitate rehabilitations of TKA patients, but also improve life quality for geriatric patients and open a new space for remote artificial intelligence medical engineering.

Multifunctional Mechanical Sensing Electronic Device Based on Triboelectric Anisotropic Crumpled Nanofibrous Mats

Integrating multiple mechanical sensing capabilities in one device is highly desired to mimic the amazing functions of human skin, and it demonstrates promising applications in the human-machine interface and wearable robotic exoskeletons. Yet, challenges remain in how to couple the multisensations using as few modules as possible to increase the compactness and conformality of the electronics. Herein, we report a self-powered multiple mechanical sensing electronic device capable of sensing multiple motion modes of strain ratios, strain direction, and pressure. The self-powered property derives from the triboelectric working mechanism of the sensor. The multiple mechanical sensing is realized by utilizing an anisotropic crumpled nanofibrous membrane as the triboelectric layer and ionic conductor as the electrode layer. For strain ratios and pressure sensing, the output voltages of the sensor changed with the changes of these external stimulus with a comparable sensitivity. More importantly, contributed by the anisotropic structure of the designed crumples, the directional strain sensing is realized by the anisotropic sensitivity in three stretched directions.

Recent Advances in Flexible Tactile Sensors for Intelligent Systems

Tactile sensors are an important medium for artificial intelligence systems to perceive their external environment. With the rapid development of smart robots, wearable devices, and human-computer interaction interfaces, flexible tactile sensing has attracted extensive attention. An overview of the recent development in high-performance tactile sensors used for smart systems is introduced. The main transduction mechanisms of flexible tactile sensors including piezoresistive, capacitive, piezoelectric, and triboelectric sensors are discussed in detail. The development status of flexible tactile sensors with high resolution, high sensitive, self-powered, and visual capabilities are focused on. Then, for intelligent systems, the wide application prospects of flexible tactile sensors in the fields of wearable electronics, intelligent robots, human-computer interaction interfaces, and implantable electronics are systematically discussed. Finally, the future prospects of flexible tactile sensors for intelligent systems are proposed.

Impact of Irrigation with Treated Domestic Wastewater on Squash (Cucurbita pepo L.) Fruit and Seed under Semi-Arid Conditions

The present study investigated the effect of using municipal treated wastewater in irrigation on plant growth and seed quality of squash as compared to fresh water. The physico-chemical properties of both water sources were investigated. Soil, fruits and seeds were tested for heavy metals presence and accumulation. A number of seed composition parameters were also measured. Growth parameters (fruit length, diameter and oven-dried weight) were increased in response to irrigation with treated wastewater as compared to control. All tested heavy metals concentrations were below the toxic limit of the Jordanian standards. Crude protein content was highest (41.28%) in naked seeds under treated wastewater treatment, whereas the lowest content (33.57%) was under freshwater treatment of the whole seeds.