Enhanced Magnetic Soft Robotics: Integrating Fiber Optics and 3D Printing for Rapid Actuation and Precision Sensing

Timely, accurate, and rapid grasping of dynamic change information in magnetic actuation soft robots is essential for advancing their evolution toward intelligent, integrated, and multifunctional systems. However, existing magnetic-actuation soft robots lack effective functions for integrating sensing and actuation. Herein, we demonstrate the integration of distributed fiber optics technology with advanced-programming 3D printing techniques. This integration provides our soft robots unique capabilities such as integrated sensing, precise shape reconstruction, controlled deformation, and sophisticated magnetic navigation. By utilizing an improved magneto-mechanical coupling model and an advanced inversion algorithm, we successfully achieved real-time reconstruction of complex structures, such as 'V', 'N', and 'M' shapes and gripper designs, with a notable response time of 34 ms. Additionally, our robots demonstrate proficiency in magnetic navigation and closed-loop deformation control, making them ideal for operation in confined or obscured environments. This work thus provides a transformative strategy to meet unmet demands in the rapidly growing field of soft robotics, especially in establishing the theoretical and technological foundation for constructing digitized robots.

Novel Biomimetic "Spider Web" Robust, Super-Contractile Liquid Crystal Elastomer Active Yarn Soft Actuator

In nature, spider web is an interwoven network with high stability and elasticity from silk threads secreted by spider. Inspired by the structure of spider webs, light-driven liquid crystal elastomer (LCE) active yarn is designed with super-contractile and robust weavability. Herein, a novel biomimetic gold nanorods (AuNRs) @LCE yarn soft actuator with hierarchical structure is fabricated by a facile electrospinning and subsequent photocrosslinking strategies. Meanwhile, the inherent mechanism and actuation performances of the as-prepared yarn actuator with interleaving network are systematically analyzed. Results demonstrate that thanks to the unique "like-spider webs" structure between fibers, high molecular orientation within the LCE microfibers and good flexibility, they can generate super actuation strain (≈81%) and stable actuation performances. Importantly, benefit from the robust covalent bonding at the organic-inorganic interface, photopolymerizable AuNRs molecules are uniformly introduced into the polymer backbone of electrospun LCE yarn to achieve tailorable shape-morphing under different light intensity stimulation. As a proof-of-concept illustration, light-driven artificial muscles, micro swimmers, and hemostatic bandages are successfully constructed. The research disclosed herein can offer new insights into continuous production and development of LCE-derived yarn actuator that are of paramount significance for many applications from smart fabrics to flexible wearable devices.

Self-Healable Multifunctional Fibers via Thermal Drawing

The development of soft electronics and soft fiber devices has significantly advanced flexible and wearable technology. However, they still face the risk of damage when exposed to sharp objects in real-life applications. Taking inspiration from nature, self-healable materials that can restore their physical properties after external damage offer a solution to this problem. Nevertheless, large-scale production of self-healable fibers is currently constrained. To address this limitation, this study leverages the thermal drawing technique to create elastic and stretchable self-healable thermoplastic polyurethane (STPU) fibers, enabling cost-effective mass production of such functional fibers. Furthermore, despite substantial research into the mechanisms of self-healable materials, quantifying their healing speed and time poses a persistent challenge. Thus, transmission spectra are employed as a monitoring tool to observe the real-time self-healing process, facilitating an in-depth investigation into the healing kinetics and efficiency. The versatility of the fabricated self-healable fiber extends to its ability to be doped with a wide range of functional materials, including dye molecules and magnetic microparticles, which enables modular assembly to develop distributed strain sensors and soft actuators. These achievements highlight the potential applications of self-healable fibers that seamlessly integrate with daily lives and open up new possibilities in various industries.

Single body-coupled fiber enables chipless textile electronics

Intelligent textiles provide an ideal platform for merging technology into daily routines. However, current textile electronic systems often rely on rigid silicon components, which limits seamless integration, energy efficiency, and comfort. Chipless electronic systems still face digital logic challenges owing to the lack of dynamic energy-switching carriers. We propose a chipless body-coupled energy interaction mechanism for ambient electromagnetic energy harvesting and wireless signal transmission through a single fiber. The fiber itself enables wireless visual-digital interactions without the need for extra chips or batteries on textiles. Because all of the electronic assemblies are merged in a miniature fiber, this facilitates scalable fabrication and compatibility with modern weaving techniques, thereby enabling versatile and intelligent clothing. We propose a strategy that may address the problems of silicon-based textile systems.

Continuous production of ultratough semiconducting polymer fibers with high electronic performance

Conjugated polymers have demonstrated promising optoelectronic properties, but their brittleness and poor mechanical characteristics have hindered their fabrication into durable fibers and textiles. Here, we report a universal approach to continuously producing highly strong, ultratough conjugated polymer fibers using a flow-enhanced crystallization (FLEX) method. These fibers exhibit one order of magnitude higher tensile strength (>200 megapascals) and toughness (>80 megajoules per cubic meter) than traditional semiconducting polymer fibers and films, outperforming many synthetic fibers, ready for scalable production. These fibers also exhibit unique strain-enhanced electronic properties and exceptional performance when used as stretchable conductors, thermoelectrics, transistors, and sensors. This work not only highlights the influence of fluid mechanical effects on the crystallization and mechanical properties of conjugated polymers but also opens up exciting possibilities for integrating these functional fibers into wearable electronics.

Intelligent textiles are looking bright

Flexible fiber electronics couple with the human body for wireless tactile sensing.

Mass-produced and uniformly luminescent photochromic fibers toward future interactive wearable displays

Enabling flexible fibers with light-emitting capabilities has the potential to revolutionize the design of smart wearable interactive devices. A recent publication in Light Science & Application, an interdisciplinary team of scientists led by Prof. Yan-Qing Lu and Prof. Guangming Tao has realized a highly flexible, uniformly luminescent photochromic fiber based on a mass-produced thermal drawing method. It overcomes the shortcomings of existing commercial light-diffusing fibers, exhibiting outstanding one-dimensional linear illumination performance. The research team integrated controllable photochromic fibers into various wearable interaction interfaces, providing a novel approach and insights to enable human-computer interaction.

Nanocomposite Hydrogel Actuators with Ordered Structures: From Nanoscale Control to Macroscale Deformations

Flexible intelligent actuators with the characteristics of flexibility, safety and scalability, are highly promising in industrial production, biomedical fields, environmental monitoring, and soft robots. Nanocomposite hydrogels are attractive candidates for soft actuators due to their high pliability, intelligent responsiveness, and capability to execute large-scale rapid reversible deformations under external stimuli. Here, the recent advances of nanocomposite hydrogels as soft actuators are reviewed and focus is on the construction of elaborate and programmable structures by the assembly of nano-objects in the hydrogel matrix. With the help of inducing the gradient or oriented distributions of the nanounits during the gelation process by the external forces or molecular interactions, nanocomposite hydrogels with ordered structures are achieved, which can perform bending, spiraling, patterned deformations, and biomimetic complex shape changes. Given great advantages of these intricate yet programmable shape-morphing, nanocomposite hydrogel actuators have presented high potentials in the fields of moving robots, energy collectors, and biomedicines. In the end, the challenges and future perspectives of this emerging field of nanocomposite hydrogel actuators are proposed.

Soft Polymer Optical Fiber Sensors for Intelligent Recognition of Elastomer Deformations and Wearable Applications

In recent years, soft robotic sensors have rapidly advanced to endow robots with the ability to interact with the external environment. Here, we propose a polymer optical fiber (POF) sensor with sensitive and stable detection performance for strain, bending, twisting, and pressing. Thus, we can map the real-time output light intensity of POF sensors to the spatial morphology of the elastomer. By leveraging the intrinsic correlations of neighboring sensors and machine learning algorithms, we realize the spatially resolved detection of the pressing and multi-dimensional deformation of elastomers. Specifically, the developed intelligent sensing system can effectively recognize the two-dimensional indentation position with a prediction accuracy as large as ~99.17%. The average prediction accuracy of combined strain and twist is ~98.4% using the random forest algorithm. In addition, we demonstrate an integrated intelligent glove for the recognition of hand gestures with a high recognition accuracy of 99.38%. Our work holds promise for applications in soft robots for interactive tasks in complex environments, providing robots with multidimensional proprioceptive perception. And it also can be applied in smart wearable sensing, human prosthetics, and human-machine interaction interfaces.

Design of a Wearable Real-Time Hand Motion Tracking System Using an Array of Soft Polymer Acoustic Waveguides

Robust hand motion tracking holds promise for improved human-machine interaction in diverse fields, including virtual reality, and automated sign language translation. However, current wearable hand motion tracking approaches are typically limited in detection performance, wearability, and durability. This article presents a hand motion tracking system using multiple soft polymer acoustic waveguides (SPAWs). The innovative use of SPAWs as strain sensors offers several advantages that address the limitations. SPAWs are easily manufactured by casting a soft polymer shaped as a soft acoustic waveguide and containing a commercially available small ceramic piezoelectric transducer. When used as strain sensors, SPAWs demonstrate high stretchability (up to 100%), high linearity (R2 > 0.996 in all quasi-static, dynamic, and durability tensile tests), negligible hysteresis (<0.7410% under strain of up to 100%), excellent repeatability, and outstanding durability (up to 100,000 cycles). SPAWs also show high accuracy for continuous finger angle estimation (average root-mean-square errors [RMSE] <2.00°) at various flexion-extension speeds. Finally, a hand-tracking system is designed based on a SPAW array. An example application is developed to demonstrate the performance of SPAWs in real-time hand motion tracking in a three-dimensional (3D) virtual environment. To our knowledge, the system detailed in this article is the first to use soft acoustic waveguides to capture human motion. This work is part of an ongoing effort to develop soft sensors using both time and frequency domains, with the goal of extracting decoupled signals from simple sensing structures. As such, it represents a novel and promising path toward soft, simple, and wearable multimodal sensors.

A Flexible, Adaptive, and Self-Powered Triboelectric Vibration Sensor with Conductive Sponge-Silicone for Machinery Condition Monitoring

Vibration sensors for continuous and reliable condition monitoring of mechanical equipment, especially detection points of curved surfaces, remain a great challenge and are highly desired. Herein, a highly flexible and adaptive triboelectric vibration sensor for high-fidelity and continuous monitoring of mechanical vibration conditions is proposed. The sensor is entirely composed of flexible materials. It consists of a conductive sponge-silicone layer and a fluorinated ethylene propylene film. It can detect vibration acceleration of 5 to 50 m s-2 and vibration frequency of 10 to 100 Hz. It has strong robustness and stability, and the output performance barely changes after the durability test of 168 000 working cycles. Additionally, the flexible sensor can work even when the detection point of the mechanical equipment is curved, and the linear fit of the output voltage and acceleration is very close to that when the detection point is flat. Finally, it can be applied to monitoring the working condition of blower and vehicle engine, and can transmit vibration signal to mobile phone application through Wi-Fi module for real-time monitoring. The flexible triboelectric vibration sensor is expected to provide a practical paradigm for smart, green, and sustainable wireless sensor system in the era of Internet of Things.

Highly sensitive fiber-optic chemical pH sensor based on surface modification of optical fiber with ZnCdSe/ZnS quantum dots

The pH value plays a vital role in many biological and chemical reactions. In this work, the fiber-optic chemical pH sensors were fabricated based on carboxyl ZnCdSe/ZnS quantum dots (QDs) and tapered optical fiber. The photoluminescence (PL) intensity of QDs is pH-dependence because protonation and deprotonation can affect the process of electron-hole recombination. The evanescent wave of tapered optical fiber was used as excitation source in the process of PL. To obtain higher sensitivity, the end faces of fiber were optimized for cone region. By lengthening the cone region and shrinking the end diameter of optical fiber, evanescent wave was enhanced and the excitation times of QDs were increased, which improved the PL intensity and the sensitivity of the sensor. The sensitivity of sensor can reach as high as 0.139/pH in the range of pH 6.00-9.01. The surface functional modification was adopted to prepare sensing films. The carboxyl groups on the QDs ligands are chemically bonded to the fiber surface, which is good for response time (40 s) and stability (decreased 0.9 % for 5 min). These results demonstrated that ZnCdSe/ZnS QDs-based fiber-optic chemical pH sensors are promising approach in rapid and precise pH detection.

Bioinspired Stimuli-Responsive Materials for Soft Actuators

Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.

Wearable and interactive multicolored photochromic fiber display

Endowing flexible and adaptable fiber devices with light-emitting capabilities has the potential to revolutionize the current design philosophy of intelligent, wearable interactive devices. However, significant challenges remain in developing fiber devices when it comes to achieving uniform and customizable light effects while utilizing lightweight hardware. Here, we introduce a mass-produced, wearable, and interactive photochromic fiber that provides uniform multicolored light control. We designed independent waveguides inside the fiber to maintain total internal reflection of light as it traverses the fiber. The impact of excessive light leakage on the overall illuminance can be reduced by utilizing the saturable absorption effect of fluorescent materials to ensure light emission uniformity along the transmission direction. In addition, we coupled various fluorescent composite materials inside the fiber to achieve artificially controllable spectral radiation of multiple color systems in a single fiber. We prepared fibers on mass-produced kilometer-long using the thermal drawing method. The fibers can be directly integrated into daily wearable devices or clothing in various patterns and combined with other signal input components to control and display patterns as needed. This work provides a new perspective and inspiration to the existing field of fiber display interaction, paving the way for future human-machine integration.

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.

Soft touchless sensors and touchless sensing for soft robots

Soft robots are characterized by their mechanical compliance, making them well-suited for various bio-inspired applications. However, the challenge of preserving their flexibility during deployment has necessitated using soft sensors which can enhance their mobility, energy efficiency, and spatial adaptability. Through emulating the structure, strategies, and working principles of human senses, soft robots can detect stimuli without direct contact with soft touchless sensors and tactile stimuli. This has resulted in noteworthy progress within the field of soft robotics. Nevertheless, soft, touchless sensors offer the advantage of non-invasive sensing and gripping without the drawbacks linked to physical contact. Consequently, the popularity of soft touchless sensors has grown in recent years, as they facilitate intuitive and safe interactions with humans, other robots, and the surrounding environment. This review explores the emerging confluence of touchless sensing and soft robotics, outlining a roadmap for deployable soft robots to achieve human-level dexterity.

Microstructured Polyfluoroacrylate Elastomeric Dielectric Layer for Highly Stretchable Wide-Range Capacitive Pressure Sensors

Capacitive pressure sensors capable of replicating human tactile senses have garnered tremendous attention. Introducing microstructures into the dielectric layer is an effective approach to improve the sensitivity of the sensors. However, most reported processes to fabricate microstructured dielectric layers are complicated and time-consuming and usually have adverse effects on the mechanical properties. Herein, we report a mechanically strong and highly stretchable dielectric layer fabricated from a microstructured fluorinated elastomer with a high dielectric constant (5.8 at 1000 Hz) via a simple and low-cost thermal decomposition process. Capacitive pressure sensors based on this microstructured fluorinated elastomer dielectric layer and soft ionotronic electrodes illustrate an impressing stretchability (>300%), a high pressure sensitivity (17 MPa-1), a wide detection range (70 Pa-800 kPa), and a fast response time (below 300 ms). Moreover, the multipixel capacitive pressure sensors sensing array maintains the unique spatial tactile sensing performance even under significant tensile deformation. It is believed that our microstructured fluorinated elastomer dielectric layer might find wide applications in stretchable ionotronic devices.

Facile Design of Flexible, Strong, and Highly Conductive MXene-Based Composite Films for Multifunctional Applications

Strong, conductive, and flexible materials with improving ion accessibility have attracted significant attention in electromagnetic interference (EMI) and foldable wearable electronics. However, it still remains a great challenge to realize high performance at the same time for both properties. Herein, a microscale structural design combined with nanostructures strategy to fabricate TOCNF(F)/Ti3 C2 Tx (M)@AgNW(A) composite films via a facile vacuum filtration process followed by hot pressing (TOCNF = TEMPO-oxidized cellulose nanofibrils, NW = nanowires) is described. The comparison reveals that different microscale structures can significantly influence the properties of thin films, especially their electrochemical properties. Impressively, the ultrathin MA/F/MA film with enhanced layer in the middle exhibits an excellent tensile strength of 107.9 MPa, an outstanding electrical conductivity of 8.4 × 106 S m-1 , and a high SSE/t of 26 014.52 dB cm2 g-1 . The assembled asymmetric MA/F/MA//TOCNF@CNT (carbon nanotubes) supercapacitor leads to a significantly high areal energy density of 49.08 µWh cm-2 at a power density of 777.26 µW cm-2 . This study proposes an effective strategy to circumvent the trade-off between EMI performance and electrochemical properties, providing an inspiration for the fabrication of multifunctional films for a wide variety of applications in aerospace, national defense, precision instruments, and next-generation electronics.

Squid-Inspired Powerful Untethered Soft Pumps via Magnetically Induced Phase Transitions

Soft robots possess unique deformability and hence result in great adaptability to various unconstructive environments; meanwhile, untethered soft actuation techniques are critical in fully exploiting their potential for practical applications. However, restricted by the material's softness and structural compliance, most untethered actuation systems were incapable of achieving fully soft construction with a powerful output. While in Nature, with a fully soft body, a squid can burst high-pressure jet flow from a cavity that drives the squid to swim swiftly. Here, inspired by such a unique actuation strategy of squids, an entirely soft pump capable of high-pressure output, fast jetting, and untethered control is presented, and it helps a bionic soft robotic squid to achieve a high-efficient untethered motion in water. The soft pump is designed by a reversible liquid-gas phase transition of an inductive heating magnetic liquid metal composite that acts as an adjustable power source with high heat efficiency. In particular, being purely soft, the pump can yet lift ∼20 times its weight and achieve ∼3 times the specific pressure of the previous record. It may promote the application of soft robots with independent actuation, high output power, and embodied energy supply.

Soft Biomimetic Fiber-Optic Tactile Sensors Capable of Discriminating Temperature and Pressure

Tactile sensors with high softness and multisensory functions are highly desirable for applications in humanoid robotics, smart prosthetics, and human-machine interfaces. Here, we report a soft biomimetic fiber-optic tactile (SBFT) sensor that offers skin-like tactile sensing abilities to perceive and discriminate temperature and pressure. The SBFT sensor is fabricated by encapsulating a macrobent fiber Bragg grating (FBG) in an elastomeric droplet-shaped structure that results in two optical resonances associated with the FBG and excited whispering gallery modes (WGMs) propagating along the bent region. Benefiting from the different thermo-optic and stress-optic effects of FBG and WGM resonances, the pressure and temperature can be fully decoupled with a high precision of 0.2 °C and 0.8 mN, respectively. To achieve a compact system for signal demodulation, a single-cavity dual-comb fiber laser is developed to interrogate the SBFT sensor based on dual-comb spectroscopy, which enables fast spectral sampling with a single photodiode. We show that the SBFT sensor is capable of perceiving pressure, temperature, and hardness in touching soft tissues and human skins, demonstrating great promise for soft tissue palpation and human-like robotic perception.

Multi-modal deformation and temperature sensing for context-sensitive machines

Owing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each made for detecting limited stimuli. Emerging high degree-of-freedom human-robot interfaces and soft robot applications are delimited by the lack of simple, cohesive, and information-dense sensing technologies. Stepping toward biological levels of proprioception, we present a sensing technology capable of decoding omnidirectional bending, compression, stretch, binary changes in temperature, and combinations thereof. This multi-modal deformation and temperature sensor harnesses chromaticity and intensity of light as it travels through patterned elastomer doped with functional dyes. Deformations and temperature shifts augment the light chromaticity and intensity, resulting in a one-to-one mapping between stimulus modes that are sequentially combined and the sensor output. We study the working principle of the sensor via a comprehensive opto-thermo-mechanical assay, and find that the information density provided by a single sensing element permits deciphering rich and diverse human-robot and robot-environmental interactions.

Prosthetic finger for fingertip tactile sensing via flexible chromatic optical waveguides

Building prosthetics indistinguishable from human limbs to accurately receive and transmit sensory information to users not only promises to radically improve the lives of amputees, but also shows potential in a range of robotic applications. Currently, a mainstream approach is to embed electrical or optical sensors with force/thermal sensing functions on the surface or inside of prosthetic fingers. Compared with electrical sensing technologies, tactile sensors based on stretchable optical waveguides have the advantages of easy fabrication, chemical safety, environmental stability, and compatibility with prosthetic structural materials. However, so far, research has mainly focused on the perception of finger joint motion or external press, and there is still a lack of study on optical sensors with fingertip tactile capabilities (such as texture, hardness, slip detection, etc.). Here we report a 3D printing prosthetic finger with flexible chromatic optical waveguides implanted at the fingertip. The finger achieves distributed displacement/force sensing detection, and exhibits high sensitivity, fast response and good stability. The finger can be used to conduct active sensory experiments, and the detection parameters include object contour, hardness, slip direction and speed, temperature, etc. Finally, exploratory research on identifying and manipulating objects is carried out with this finger. The developed prosthetic finger can artificially recreate touch perception and realize complex functions such as note-writing analysis and braille recognition.

Optical Integration in Wearable, Implantable and Swallowable Healthcare Devices

Recent advances in materials and semiconductor technologies have led to extensive research on optical integration in wearable, implantable, and swallowable health devices. These optical systems utilize the properties of light─intensity, wavelength, polarization, and phase─to monitor and potentially intervene in various biological events. The potential of these devices is greatly enhanced through the use of multifunctional optical materials, adaptable integration processes, advanced optical sensing principles, and optimized artificial intelligence algorithms. This synergy creates many possibilities for clinical applications. This Perspective discusses key opportunities, challenges, and future directions, particularly with respect to sensing modalities, multifunctionality, and the integration of miniaturized optoelectronic devices. We present fundamental insights and illustrative examples of such devices in wearable, implantable, and swallowable forms. The constant pursuit of innovation and the dedicated approach to critical challenges are poised to influence diverse fields.

Hydrogel-assisted microfluidic spinning of stretchable fibers via fluidic and interfacial self-adaptations

Stretchable polymeric fibers have enormous potential, but their production requires rigorous environmental controls and considerable resource consumption. It's also challenging for elastic polymers with high performance but poor spinnability, such as silicones like polydimethylsiloxane and Ecoflex. We present a hydrogel-assisted microfluidic spinning (HAMS) method to address these challenges by encapsulating their prepolymers within arbitrarily long, protective, and sacrificable hydrogel fibers. By designing simple apparatuses and manipulating the fluidic and interfacial self-adaptations of oil/water flows, we successfully produce fibers with widely controllable diameter (0.04 to 3.70 millimeters), notable length, high quality (e.g., smooth surface, whole-length uniformity, and rounded section), and remarkable stretchability (up to 1300%) regardless of spinnability. Uniquely, this method allows an easy, effective, and controllable reshaping production of helical fibers with exceptional stretchability and mechanical compliance. We deeply reveal the mechanisms in producing these fibers and demonstrate their potential as textile components, optoelectronic devices, and actuators. The HAMS method would be a powerful tool for mass-producing high-quality stretchable fibers.

Study on the Design and Performance of a Glove Based on the FBG Array for Hand Posture Sensing

This study introduces a new wearable fiber-optic sensor glove. The glove utilizes a flexible material, polydimethylsiloxane (PDMS), and a silicone tube to encapsulate fiber Bragg gratings (FBGs). It is employed to enable the self-perception of hand posture, gesture recognition, and the prediction of grasping objects. The investigation employs the Support Vector Machine (SVM) approach for predicting grasping objects. The proposed fiber-optic sensor glove can concurrently monitor the motion of 14 hand joints comprising 5 metacarpophalangeal joints (MCP), 5 proximal interphalangeal joints (PIP), and 4 distal interphalangeal joints (DIP). To expand the measurement range of the sensors, a sinusoidal layout incorporates the FBG array into the glove. The experimental results indicate that the wearable sensing glove can track finger flexion within a range of 0° to 100°, with a modest minimum measurement error (Error) of 0.176° and a minimum standard deviation (SD) of 0.685°. Notably, the glove accurately detects hand gestures in real-time and even forecasts grasping actions. The fiber-optic smart glove technology proposed herein holds promising potential for industrial applications, including object grasping, 3D displays via virtual reality, and human-computer interaction.

Integrated Flexible Microscale Mechanical Sensors Based on Cascaded Free Spectral Range-Free Cavities

Photonic mechanical sensors offer several advantages over their electronic counterparts, including immunity to electromagnetic interference, increased sensitivity, and measurement accuracy. Exploring flexible mechanical sensors on deformable substrates provides new opportunities for strain-optical coupling operations. Nevertheless, existing flexible photonics strategies often require cumbersome signal collection and analysis with bulky setups, limiting their portability and affordability. To address these challenges, we propose a waveguide-integrated flexible mechanical sensor based on cascaded photonic crystal microcavities with inherent deformation and biaxial tensile state analysis. Leveraging the advanced multiplexing capability of the sensor, for the first time, we successfully demonstrate 2D shape reconstruction and quasi-distributed strain sensing with 110 μm spatial resolution. Our microscale mechanical sensor also exhibits exceptional sensitivity with a detected force level as low as 13.6 μN in real-time measurements. This sensing platform has potential applications in various fields, including biomedical sensing, surgical catheters, aircraft and spacecraft engineering, and robotic photonic skin development.

Twisted Optical Micro/Nanofibers Enabled Detection of Subtle Temperature Variation

The detection of subtle temperature variation plays an important role in many applications, including proximity sensing in robotics, temperature measurements in microfluidics, and tumor monitoring in healthcare. Herein, a flexible miniaturized optical temperature sensor is fabricated by embedding twisted micro/nanofibers in a thin layer of polydimethylsiloxane. Enabled by the dramatic change of the coupling ratio under subtle temperature variation, the sensor exhibits an ultrahigh sensitivity (-30 nm/°C) and high resolution (0.0012 °C). As a proof-of-concept demonstration, a robotic arm equipped with our sensor can avoid undesired collisions by detecting the subtle temperature variation caused by the existence of a human. Moreover, benefiting from the miniaturized and engineerable sensing structure, real-time measurement of subtle temperature variation in microfluidic chips is realized. These initial results pave the way toward a category of optical sensing devices ranging from robotic skin to human-machine interfaces and implantable healthcare sensors.

Flexible tactile sensors with biomimetic microstructures: Mechanisms, fabrication, and applications

In recent years, flexible devices have gained rapid development with great potential in daily life. As the core component of wearable devices, flexible tactile sensors are prized for their excellent properties such as lightweight, stretchable and foldable. Consequently, numerous high-performance sensors have been developed, along with an array of innovative fabrication processes. It has been recognized that the improvement of the single performance index for flexible tactile sensors is not enough for practical sensing applications. Therefore, balancing and optimization of overall performance of the sensor are extensively anticipated. Furthermore, new functional characteristics are required for practical applications, such as freeze resistance, corrosion resistance, self-cleaning, and degradability. From a bionic perspective, the overall performance of a sensor can be optimized by constructing bionic microstructures which can deliver additional functional features. This review briefly summarizes the latest developments in bionic microstructures for different types of tactile sensors and critically analyzes the sensing performance of fabricated flexible tactile sensors. Based on this, the application prospects of bionic microstructure-based tactile sensors in human detection and human-machine interaction devices are introduced.

Progress and prospects in flexible tactile sensors

Flexible tactile sensors have the advantages of large deformation detection, high fault tolerance, and excellent conformability, which enable conformal integration onto the complex surface of human skin for long-term bio-signal monitoring. The breakthrough of flexible tactile sensors rather than conventional tactile sensors greatly expanded application scenarios. Flexible tactile sensors are applied in fields including not only intelligent wearable devices for gaming but also electronic skins, disease diagnosis devices, health monitoring devices, intelligent neck pillows, and intelligent massage devices in the medical field; intelligent bracelets and metaverse gloves in the consumer field; as well as even brain-computer interfaces. Therefore, it is necessary to provide an overview of the current technological level and future development of flexible tactile sensors to ease and expedite their deployment and to make the critical transition from the laboratory to the market. This paper discusses the materials and preparation technologies of flexible tactile sensors, summarizing various applications in human signal monitoring, robotic tactile sensing, and human-machine interaction. Finally, the current challenges on flexible tactile sensors are also briefly discussed, providing some prospects for future directions.

Fabrication and characterization of polymer optical waveguide Bragg grating for pulse signal sensing

Polymer materials have the advantages of a low Young's modulus and low-cost preparation process. In this paper, a polymer-based optical waveguide pressure sensor based on a Bragg structure is proposed. The change in the Bragg wavelength in the output spectrum of the waveguide Bragg grating (WBG) is used to linearly characterize the change in pressure acting on the device. The polymer-based WBG was developed through a polymer film preparation process, and the experimental results show that the output signal of the device has a sensitivity of 1.275 nm/kPa with a measurement range of 0-12 kPa and an accuracy of 1 kPa. The experimental results indicate that the device already perfectly responds to a pulse signal. It has significant potential application value in medical diagnostics and health testing, such as blood pressure monitoring, sleep quality monitoring, and tactile sensing.

Low-Cost Distributed Optical Waveguide Shape Sensor Based on WTDM Applied in Bionics

Bionic robotics, driven by advancements in artificial intelligence, new materials, and manufacturing technologies, is attracting significant attention from research and industry communities seeking breakthroughs. One of the key technologies for achieving a breakthrough in robotics is flexible sensors. This paper presents a novel approach based on wavelength and time division multiplexing (WTDM) for distributed optical waveguide shape sensing. Structurally designed optical waveguides based on color filter blocks validate the proposed approach through a cost-effective experimental setup. During data collection, it combines optical waveguide transmission loss and the way of controlling the color and intensity of the light source and detecting color and intensity variations for modeling. An artificial neural network is employed to model and demodulate a data-driven optical waveguide shape sensor. As a result, the correlation coefficient between the predicted and real bending angles reaches 0.9134 within 100 s. To show the parsing performance of the model more intuitively, a confidence accuracy curve is introduced to describe the accuracy of the data-driven model at last.

Single-Line Multi-Channel Flexible Stress Sensor Arrays

Flexible stress sensor arrays, comprising multiple flexible stress sensor units, enable accurate quantification and analysis of spatial stress distribution. Nevertheless, the current implementation of flexible stress sensor arrays faces the challenge of excessive signal wires, resulting in reduced deformability, stability, reliability, and increased costs. The primary obstacle lies in the electric amplitude modulation nature of the sensor unit's signal (e.g., resistance and capacitance), allowing only one signal per wire. To overcome this challenge, the single-line multi-channel signal (SLMC) measurement has been developed, enabling simultaneous detection of multiple sensor signals through one or two signal wires, which effectively reduces the number of signal wires, thereby enhancing stability, deformability, and reliability. This review offers a general knowledge of SLMC measurement beginning with flexible stress sensors and their piezoresistive, capacitive, piezoelectric, and triboelectric sensing mechanisms. A further discussion is given on different arraying methods and their corresponding advantages and disadvantages. Finally, this review categorizes existing SLMC measurement methods into RLC series resonant sensing, transmission line sensing, ionic conductor sensing, triboelectric sensing, piezoresistive sensing, and distributed fiber optic sensing based on their mechanisms, describes the mechanisms and characteristics of each method and summarizes the research status of SLMC measurement.

Soft Robot Proprioception Using Unified Soft Body Encoding and Recurrent Neural Network

Compared with rigid robots, soft robots are inherently compliant and have advantages in the tasks requiring flexibility and safety. But sensing the high dimensional body deformation of soft robots is a challenge. Encasing soft strain sensors into the internal body of soft robots is the most popular solution to address this challenge. But most of them usually suffer from problems like nonlinearity, hysteresis, and fabrication complexity. To endow the soft robots with body movement awareness, this work presents a bioinspired architecture by taking cues from human proprioception system. Differing from the popular usage of smart material-based sensors embedded in soft actuators, we created a synthetic analog to the human muscle system, using paralleled soft pneumatic chambers to serve as receptors for sensing body deformation. We proposed to build the system with redundant receptors and explored deep learning tools for generating the kinematic model. Based on the proposed methodology, we demonstrated the design of three degrees of freedom continuum joint and how its kinematic model was learned from the unified pressure information of the actuators and receptors. In addition, we investigated the response of the soft system to receptor failures and presented both hardware and software level solutions for achieving graceful degradation. This approach offers an alternative to enable soft robots with proprioception capability, which will be useful for closed-loop control and interaction with environment.

Light-triggered multi-joint microactuator fabricated by two-in-one femtosecond laser writing

Inspired by the flexible joints of humans, actuators containing soft joints have been developed for various applications, including soft grippers, artificial muscles, and wearable devices. However, integrating multiple microjoints into soft robots at the micrometer scale to achieve multi-deformation modalities remains challenging. Here, we propose a two-in-one femtosecond laser writing strategy to fabricate microjoints composed of hydrogel and metal nanoparticles, and develop multi-joint microactuators with multi-deformation modalities (>10), requiring short response time (30 ms) and low actuation power (<10 mW) to achieve deformation. Besides, independent joint deformation control and linkage of multi-joint deformation, including co-planar and spatial linkage, enables the microactuator to reconstruct a variety of complex human-like modalities. Finally, as a proof of concept, the collection of multiple microcargos at different locations is achieved by a double-joint micro robotic arm. Our microactuators with multiple modalities will bring many potential application opportunities in microcargo collection, microfluid operation, and cell manipulation.

Biomimetic Flexible Sensors and Their Applications in Human Health Detection

Bionic flexible sensors are a new type of biosensor with high sensitivity, selectivity, stability, and reliability to achieve detection in complex natural and physiological environments. They provide efficient, energy-saving and convenient applications in medical monitoring and diagnosis, environmental monitoring, and detection and identification. Combining sensor devices with flexible substrates to imitate flexible structures in living organisms, thus enabling the detection of various physiological signals, has become a hot topic of interest. In the field of human health detection, the application of bionic flexible sensors is flourishing and will evolve into patient-centric diagnosis and treatment in the future of healthcare. In this review, we provide an up-to-date overview of bionic flexible devices for human health detection applications and a comprehensive summary of the research progress and potential of flexible sensors. First, we evaluate the working mechanisms of different classes of bionic flexible sensors, describing the selection and fabrication of bionic flexible materials and their excellent electrochemical properties; then, we introduce some interesting applications for monitoring physical, electrophysiological, chemical, and biological signals according to more segmented health fields (e.g., medical diagnosis, rehabilitation assistance, and sports monitoring). We conclude with a summary of the advantages of current results and the challenges and possible future developments.

AI-Assisted Disease Monitoring Using Stretchable Polymer-Based Sensors

Flexible sensors have attracted significant attention for medical applications. Herein, an AI-assisted stretchable polymer-based (AISP) sensor has been developed based on the Beer-Lambert law for disease monitoring and telenursing. Benefiting from the use of superior polymer materials, the AISP sensor features a high tensile strain of up to 100%, durability of >10,000 tests, excellent waterproofness, and no effect of temperature (1.6-60.9 °C). Such advantages support the capability that the AISP can be flexibly pasted on the skin surface as a wearable device for real-time monitoring of multiple physiological parameters. An AISP sensor-based swallowing recognition technique has been proposed with a high accuracy of up to 88.89%. Likewise, it has been expanded to a remote nursing assistance system to meet critical patients' physiological requirements and daily care. The hands-free communication experiment and robot control applications have also been successfully conducted based on the constructed system. Such merits demonstrate its potential as a medical toolkit and indicate promise for intelligent healthcare.

Soft Robotics Enables Neuroprosthetic Hand Design

Development and implementation of neuroprosthetic hands is a multidisciplinary field at the interface between humans and artificial robotic systems, which aims at replacing the sensorimotor function of the upper-limb amputees as their own. Although prosthetic hand devices with myoelectric control can be dated back to more than 70 years ago, their applications with anthropomorphic robotic mechanisms and sensory feedback functions are still at a relatively preliminary and laboratory stage. Nevertheless, a recent series of proof-of-concept studies suggest that soft robotics technology may be promising and useful in alleviating the design complexity of the dexterous mechanism and integration difficulty of multifunctional artificial skins, in particular, in the context of personalized applications. Here, we review the evolution of neuroprosthetic hands with the emerging and cutting-edge soft robotics, covering the soft and anthropomorphic prosthetic hand design and relating bidirectional neural interactions with myoelectric control and sensory feedback. We further discuss future opportunities on revolutionized mechanisms, high-performance soft sensors, and compliant neural-interaction interfaces for the next generation of neuroprosthetic hands.

Research on a Precision Calibration Model of a Flexible Strain Sensor Based on a Variable Section Cantilever Beam

The flexible strain sensor's measuring range is usually over 5000 με, while the conventional variable section cantilever calibration model has a measuring range within 1000 με. In order to satisfy the calibration requirements of flexible strain sensors, a new measurement model was proposed to solve the inaccurate calculation problem of the theoretical strain value when the linear model of a variable section cantilever beam was applied to a large range. The nonlinear relationship between deflection and strain was established. The finite element analysis of a variable section cantilever beam with ANSYS shows that the linear model's relative deviation is as high as 6% at 5000 με, while the relative deviation of the nonlinear model is only 0.2%. The relative expansion uncertainty of the flexible resistance strain sensor is 0.365% (k = 2). Simulation and experimental results show that this method solves the imprecision of the theoretical model effectively and realizes the accurate calibration of a large range of strain sensors. The research results enrich the measurement models and calibration models for flexible strain sensors and contribute to the development of strain metering.

Three-dimensional force-tactile sensors based on embedded fiber Bragg gratings in anisotropic materials

Three-dimensional force-tactile sensors have attracted much attention for their great potential in the applications of human-computer interaction and bionic intelligent robotics. Herein, a flexible haptic sensor based on dual fiber Bragg gratings (FBGs) embedded in a bionic anisotropic material is proposed for the detection of 3D forces. To achieve the discrimination of normal and tangential force angles and magnitudes, FBGs were orthogonally embedded in a flexible silicone cylinder for force determination. Fe₃O₄ nanoparticles were used as a modifying agent to induce anisotropic elasticity of the silicone structure to improve the angle detection resolution. The results show that the flexible tactile sensor can detect the angle and magnitude of the 3D force.

Multiresponsive Cylindrically Symmetric Cholesteric Liquid Crystal Elastomer Fibers Templated by Tubular Confinement

Cylindrically symmetric cholesteric liquid crystal elastomer (CLCE) fibers templated by tubular confinement are reported, displaying mechanochromic, thermochromic, and thermomechanical responses. The synthesis inside a sacrificial tube secures radial orientation of the cholesteric helix, and the ground state retroreflection wavelength is easily tuned throughout the visible spectrum or into the near-infrared by varying the concentration of a chiral dopant. The fibers display continuous, repeatable, and quantitatively predictable mechanochromic response, reaching a blue shift of more than -220 nm for 180% elongation. The cylindrical symmetry renders the response identical in all directions perpendicular to the fiber axis, making them exceptionally useful for monitoring complex strains, as demonstrated in revealing local strain during tying of different knots. The CLCE reflection color can be revealed with high contrast against any background by taking advantage of the circularly polarized reflection. Upon heating, the fibers respond-fully reversibly-with red shift and radial expansion/axial contraction. However, there is no transition to an isotropic state, confirming a largely forgotten theoretical prediction by de Gennes. These fibers and the easy way of making them may open new windows for large-scale application in advanced wearable technology and beyond.

Scalable functionalized liquid crystal elastomer fiber soft actuators with multi-stimulus responses and photoelectric conversion

Liquid crystal elastomer (LCE) fibers exhibit large deformation and reversibility, making them an ideal candidate for soft actuators. It is still challenging to develop a scalable strategy and endow fiber actuators with photoelectric functions to achieve tailorable photo-electro-thermal responsiveness and rapid large actuation deformation. Herein, we fabricated a multiresponsive actuator that consists of LCE long fibers obtained by continuous dry spinning and further coated it with polydopamine (PDA)-modified MXene ink. The designed PDA@MXene-integrated LCE fiber is used for shape-deformable and multi-trigger actuators that can be photo- and electro-thermally actuated. The proposed LCE fiber actuator combines an excellent photothermal and long-term electrically conductive PDA@MXene and a shape-morphing LCE fiber, enabling their robust mechanical flexibility, multiple fast responses (∼0.4 s), and stable and large actuation deformation (∼60%). As a proof-of-concept, we present near-infrared light-driven artificial muscle that can lift 1000 times the weight and an intelligent circuit switch with stable controllability and fast responsiveness (∼0.1 s). Importantly, an adaptive smart window system that integrates light-driven energy harvesting/conversion functions is ingeniously constructed by the integration of a propellable curtain woven by the designed fiber and solar cells. This work can provide insights into the development of advanced intelligent materials toward soft robotics, sustainable energy savings and beyond.

Technology Roadmap for Flexible Sensors

Humans rely increasingly on sensors to address grand challenges and to improve quality of life in the era of digitalization and big data. For ubiquitous sensing, flexible sensors are developed to overcome the limitations of conventional rigid counterparts. Despite rapid advancement in bench-side research over the last decade, the market adoption of flexible sensors remains limited. To ease and to expedite their deployment, here, we identify bottlenecks hindering the maturation of flexible sensors and propose promising solutions. We first analyze challenges in achieving satisfactory sensing performance for real-world applications and then summarize issues in compatible sensor-biology interfaces, followed by brief discussions on powering and connecting sensor networks. Issues en route to commercialization and for sustainable growth of the sector are also analyzed, highlighting environmental concerns and emphasizing nontechnical issues such as business, regulatory, and ethical considerations. Additionally, we look at future intelligent flexible sensors. In proposing a comprehensive roadmap, we hope to steer research efforts towards common goals and to guide coordinated development strategies from disparate communities. Through such collaborative efforts, scientific breakthroughs can be made sooner and capitalized for the betterment of humanity.

A parylene-mediated plasmonic-photonic hybrid fiber-optic sensor and its instrumentation for miniaturized and self-referenced biosensing

With the development of advanced nanofabrication techniques over the past decades, different nanostructure-based plasmonic fiber-optic sensors have been developed and have presented a low limit of detection for various biomolecules. However, owing to both the dependence on complex equipment and the trade-off between the fabrication cost and sensing performance, nanostructured plasmonic fiber-optic sensors are rarely used outside laboratories. To facilitate wider application of the plasmonic fiber-optic sensors, a parylene-mediated hybrid plasmonic-photonic cavity-based sensor was developed. Compared with a similar plasmonic sensor which only works in the plasmonic mode, the proposed hybrid sensor shows a higher reproducibility (CV < 2.5%) due to its resistance to fabrication variations. Meanwhile, a self-referenced detection mechanism and a novel miniaturized system were developed to adapt to the hybrid resonance sensor. The entire system only has a weight of 263 g, and a size of 12 cm × 10 cm × 8 cm, and is especially suitable for outdoor applications in a handheld manner. In experiments, a high refractive index sensitivity of 3.148 RIU^-1 and real-time biomolecule monitoring at nanomolar concentrations were achieved by the proposed system, further confirming the potential of the miniaturized system as a candidate for point-of-care health diagnostics outside laboratories.

Soft Robotic Perception System with Ultrasonic Auto-Positioning and Multimodal Sensory Intelligence

Flexible electronics such as tactile cognitive sensors have been broadly adopted in soft robotic manipulators to enable human-skin-mimetic perception. To achieve appropriate positioning for randomly distributed objects, an integrated guiding system is inevitable. Yet the conventional guiding system based on cameras or optical sensors exhibits limited environment adaptability, high data complexity, and low cost effectiveness. Herein, a soft robotic perception system with remote object positioning and a multimodal cognition capability is developed by integrating an ultrasonic sensor with flexible triboelectric sensors. The ultrasonic sensor is able to detect the object shape and distance by reflected ultrasound. Thereby the robotic manipulator can be positioned to an appropriate position to perform object grasping, during which the ultrasonic and triboelectric sensors can capture multimodal sensory information such as object top profile, size, shape, hardness, material, etc. These multimodal data are then fused for deep-learning analytics, leading to a highly enhanced accuracy in object identification (∼100%). The proposed perception system presents a facile, low-cost, and effective methodology to integrate positioning capability with multimodal cognitive intelligence in soft robotics, significantly expanding the functionalities and adaptabilities of current soft robotic systems in industrial, commercial, and consumer applications.

Three-Dimensional Displacement Measurement of Micro-Milling Tool Based on Fiber Array Encoding

The vibration of the micro-milling tool presents a significant chaotic vibration phenomenon, which has a great influence on the tool life and part machining precision, and is one of the basic problems restricting the improvement of machining efficiency and machining accuracy in micro-milling. To overcome the difficulty of the traditional vibration measurement method with the online measurement of micro-milling tool multi-dimensional vibration, a three-dimensional (3D) measurement method of the micro-milling tool is proposed based on multi-fiber array coding, which converts the tool space motion into a decoding process of the optical coding array employing the tool modulating the multi-fiber array encoding. A 6 × 6 optical fiber array was designed, and a 3D motion platform for micro-milling tools was built to verify the characteristics of the optical fiber measurement system. The measurement results show that the measuring accuracy of the system reached 1 µm, and the maximum linear error in x-, y-, and z-direction are 1.5%, 2.58%, and 2.43%, respectively; the tool space motion position measurement results show that the maximum measurement error of the measuring system was 3.4%. The designed system has unique coding characteristics for the tool position in the space of 100 µm³. It provides a new idea and realization means for the online vibration measurement of micro-milling tools.

Directional Torsion Sensor Based on a Two-Core Fiber with a Helical Structure

A fiber-optic torsion sensor based on a helical two-core fiber (HTCF) is proposed and experimentally demonstrated for simultaneously measuring torsion angle and torsion direction. The sensor consists of a segment of HTCF and two single-mode fibers (SMFs) forming a Mach-Zehnder interferometer (MZI). The helical structure is implemented by pre-twisting a 1 cm long two-core fiber (TCF). The performance of the sensor with pre-twisted angles of 180°, 360°, and 540° is experimentally analyzed. The results show that the sensor can realize the angular measurement and effectively distinguish the torsion direction. It is worth noting that the sensor has maximum sensitivity when the pre-twist angle is 180 degrees. The obtained wavelength sensitivities of torsion and temperature are 0.242 nm/(rad/m) and 32 pm/°C, respectively. The sensor has the advantages of easy fabrication, low cost, compact structure, and high sensitivity, which is expected to yield potential applications in fields where both torsion angle and direction measurements are required.

Miniaturized retractable thin-film sensor for wearable multifunctional respiratory monitoring

As extremely important physiological indicators, respiratory signals can often reflect or predict the depth and urgency of various diseases. However, designing a wearable respiratory monitoring system with convenience, excellent durability, and high precision is still an urgent challenge. Here, we designed an easy-fabricate, lightweight, and badge reel-like retractable self-powered sensor (RSPS) with high precision, sensitivity, and durability for continuous detection of important indicators such as respiratory rate, apnea, and respiratory ventilation. By using three groups of interdigital electrode structures with phase differences, combined with flexible printed circuit boards (FPCBs) processing technology, a miniature rotating thin-film triboelectric nanogenerator (RTF-TENG) was developed. Based on discrete sensing technology, the RSPS has a sensing resolution of 0.13 mm, sensitivity of 7 P·mm-1, and durability more than 1 million stretching cycles, with low hysteresis and excellent anti-environmental interference ability. Additionally, to demonstrate its wearability, real-time, and convenience of respiratory monitoring, a multifunctional wearable respiratory monitoring system (MWRMS) was designed. The MWRMS demonstrated in this study is expected to provide a new and practical strategy and technology for daily human respiratory monitoring and clinical diagnosis.

Electronic Supplementary Material

Supplementary material (additional figures and movies, including the production process of respiratory monitoring straps, the mechanical analysis of RSPS, RTF-TENG versus vector TENG sensors, the simulation studies of TE-TENG and FT-TENG, the additional characterization of RTF-TENG, the tensile and robustness tests of RSPS, the characterizations of the MWRMS during different sleeping positions, detailed circuit schematic of the MWRMS, the displacements and phase relations of RSPS, MWRMS for multifunctional respiratory monitoring) is available in the online version of this article at 10.1007/s12274-023-5420-1.

Versatile Mechanochromic Sensor based on Highly Stretchable Chiral Liquid Crystalline Elastomer

A mechanochromic strain sensor that is capable of distinguishing the orientation, the location, and the degree of deformation based on the highly stretchable membrane of main-chain chiral liquid crystalline elastomer (MCLCE) is proposed. The MCLCE film is designed to exhibit uniform and significant color shift upon the small strain by using step-growth polymerization of liquid crystal (LC) oligomer and its phase-stabilization in solvent mesogen. As conformally placed on the bottom elastomer sheet, the MCLCE film shows multimodal, instantaneous color change for sensing arbitrary in-plane deformation, out-of-plane bending, and nonzero Gaussian deformation. Based on high freedom in the device design, it is also demonstrated that this sensor can display color patterns or encrypted images in response to the localized weight or strain. The simple and straightforward concept proposed here can be applicable in the fields of wearable devices, displays, and soft robotics.