Recent progress in tactile sensors and their applications in intelligent systems

Multimaterial Digital-Light Processing of Metal-Organic Framework (MOF) Composites: A Versatile Tool for the Rapid Microfabrication of MOF-Based Devices

Patterning Metal-Organic Frameworks (MOFs) is essential for their use in sensing, electronics, photonics, and encryption technologies. However, current lithography methods are limited in their ability to pattern more than two MOFs, hindering the potential for creating advanced multifunctional surfaces. Additionally, balancing design flexibility, simplicity, and cost often results in compromises. This study addresses these challenges by combining Digital-Light Processing (DLP) with a capillary-assisted stop-flow system to enable multimaterial MOF patterning. It demonstrates the desktop fabrication of multiplexed arbitrary micropatterns across cm-scale areas while preserving the MOF's pore accessibility. The ink, consisting of a MOF crystal suspension in a low volatile solvent, a mixture of high molecular weight oligomers, and a photoinitiator, is confined by capillarity in the DLP projection area and quickly exchanged using syringe pumps. The versatility of this method is demonstrated by the direct printing of a ZIF-8-based luminescent oxygen sensor, a 5-component dynamic information concealment method, and a PCN-224-based colorimetric sensor for amines, covering disparate pore and analyte sizes. The multi-MOF capabilities, simplicity, and accessibility of this strategy pave the way for the facile exploration of MOF materials across a wide range of applications, with the potential to significantly accelerate the design-to-application cycle of MOF-based devices.

Mining local and global spatiotemporal features for tactile object recognition

The tactile object recognition (TOR) is highly important for environmental perception of robots. The previous works usually utilize single scale convolution which cannot simultaneously extract local and global spatiotemporal features of tactile data, which leads to low accuracy in TOR task. To address above problem, this article proposes a local and global residual (LGR-18) network which is mainly consisted of multiple local and global convolution (LGC) blocks. An LGC block contains two pairs of local convolution (LC) and global convolution (GC) modules. The LC module mainly utilizes a temporal shift operation and a 2D convolution layer to extract local spatiotemporal features. The GC module extracts global spatiotemporal features by fusing multiple 1D and 2D convolutions which can expand the receptive field in temporal and spatial dimensions. Consequently, our LGR-18 network can extract local-global spatiotemporal features without using 3D convolutions which usually require a large number of parameters. The effectiveness of LC module, GC module and LGC block is verified by ablation studies. Quantitative comparisons with state-of-the-art methods reveal the excellent capability of our method.

Recent Advances in Tactile Sensory Systems: Mechanisms, Fabrication, and Applications

Flexible electronics is a cutting-edge field that has paved the way for artificial tactile systems that mimic biological functions of sensing mechanical stimuli. These systems have an immense potential to enhance human-machine interactions (HMIs). However, tactile sensing still faces formidable challenges in delivering precise and nuanced feedback, such as achieving a high sensitivity to emulate human touch, coping with environmental variability, and devising algorithms that can effectively interpret tactile data for meaningful interactions in diverse contexts. In this review, we summarize the recent advances of tactile sensory systems, such as piezoresistive, capacitive, piezoelectric, and triboelectric tactile sensors. We also review the state-of-the-art fabrication techniques for artificial tactile sensors. Next, we focus on the potential applications of HMIs, such as intelligent robotics, wearable devices, prosthetics, and medical healthcare. Finally, we conclude with the challenges and future development trends of tactile sensors.

Fabrication and Investigation of Deformable Rubber-Carbon Nanotube-Glue Gel-Based Impedimetric and Capacitive Tactile Sensors for Pressure and Displacement Measurements

Carbon nanotube-glue composite gel-based surface-type elastic sensors with a cylindrical shape deformable (flexible) metallic body were fabricated for tactile pressure and compressive displacement sensing. The fabrication of the sensors was performed using the rubbing-in technique. The effect of the pressure and the compressive displacement on the capacitance and the impedance of the sensors were investigated at various frequencies (in the range of 1 kHz to 200 kHz). It was found that under the effect of pressure from 0 to 9 g/cm2, the capacitance increased by 1.86 and 1.78 times, while the impedance decreased by 1.84 and 1.71 times at the frequencies of 1 kHz to 200 kHz, respectively. The effect of displacement on the impedance and the capacitance of the device was also investigated at various frequencies from 1 kHz to 200 kHz. The results showed that under the effect of compressive displacement up to 25 µm, the impedance of the sensors decreased on average by 1.19 times, while the capacitance increased by 1.09 times, accordingly. The frequency response of the displacement sensor showed that it matched with the low-pass filter. The obtained results are explained based on changes in the shape and geometrical parameters of the cylindrical-shaped conductive body. These results have also been explained on the basis of the distance between the conductive plates of the capacitive sensors during compression, which takes place under the effect of applied pressure or displacement. Moreover, the design of the sensors is simple and easy to fabricate, and their use is also earthy. The fabricated sensors have great potential for commercialization.

Triboelectric Contact Localization Electronics: A Systematic Review

The growing demand from the extended reality and wearable electronics market has led to an increased focus on the development of flexible human-machine interfaces (HMI). These interfaces require efficient user input acquisition modules that can realize touch operation, handwriting input, and motion sensing functions. In this paper, we present a systematic review of triboelectric-based contact localization electronics (TCLE) which play a crucial role in enabling the lightweight and long-endurance designs of flexible HMI. We begin by summarizing the mainstream working principles utilized in the design of TCLE, highlighting their respective strengths and weaknesses. Additionally, we discuss the implementation methods of TCLE in realizing advanced functions such as sliding motion detection, handwriting trajectory detection, and artificial intelligence-based user recognition. Furthermore, we review recent works on the applications of TCLE in HMI devices, which provide valuable insights for guiding the design of application scene-specified TCLE devices. Overall, this review aims to contribute to the advancement and understanding of TCLE, facilitating the development of next-generation HMI for various applications.

Biomimetic Ion Channel Regulation for Temperature-Pressure Decoupled Tactile Perception

The perception of temperature and pressure of skin plays a vital role in joint movement, hand grasp, emotional expression, and self-protection of human. Among many biomimetic materials, ionic gels are uniquely suited to simulate the function of skin due to its ionic transport mechanism. However, both the temperature and pressure sensing are heavily dependent on the changes in ionic conductivity, making it impossible to decouple the temperature and pressure signals. Here, a pressure-insensitive and temperature-modulated ion channel is designed by synergistic strategies for gel skeleton's compact packing and ultra-thin structure, mimicking the function of the temperature ion channel in human skin. This ion-confined gel can completely suppress the pressure response of the temperature sensing layer. Furthermore, a temperature-pressure decoupled ionic sensor is fabricated and it is demonstrated that the ionic sensor can sense complex signals of temperature and pressure. This novel and effective approach has great potential to overcome one of the current barriers in developing ionic skin and extending its applications.

Three-dimensional force detection and decoupling of a fiber grating sensor for a humanoid prosthetic hand

A fiber Bragg grating (FBG) based three-dimensional (3D) force sensor for a humanoid prosthetic hand is designed, which can precisely detect 3D force and compensate for ambient temperature. FBG was encapsulated in polydimethylsiloxane (PDMS) for force sensitization and immobilization, and the structural parameters of the sensor were optimized by using finite element simulation, so that its sensitivity to 3D force is enhanced. In the meantime, the calibration experiments for normal force fZ, shear force fX/fY, and temperature were conducted, and the 3D force data were decoupled using the least square (LS) and backpropagation (BP) neural networks decoupling methods, so that an overall decoupling error is 0.038. The results show that the sensor has a simple structure, high sensitivity, high linearity, good creep resistance, and rapid decoupling, providing a successful design for the 3D force detection of a humanoid prosthetic hand.

Spatial and Temporal Analysis of Normal and Shear Forces During Grasping, Manipulation and Social Activities

Extensive research has established and widely acknowledged the important contribution of human hand sensory receptors in providing tactile feedback. The absence of these receptors results in a poor perception of the environment, impairing our efficient manipulation skills. Although the literature emphasizes the significance of normal forces in human grasping, further investigations should point toward the role of shear forces in this process. This paper presents an analysis of human everyday grasping activities through the use of 20 three-axis magnetic soft skin force sensors, in the form of rings and bands, that measure both normal and shear forces. Our study includes twelve tasks that cover various grasping requirements. Results highlight the importance of spatial information and the usefulness of shear forces in the prediction of unexpected changes that can not be always observed in normal forces. Tactile sensing can ultimately be integrated into prosthetic and rehabilitation devices for improved control and potentially provide sensory feedback to the user.

EEG-based functional connectivity for tactile roughness discrimination

Tactile sensation and perception involve cooperation between different parts of the brain. Roughness discrimination is an important phase of texture recognition. In this study, we investigated how different roughness levels would influence the brain network characteristics. We recorded EEG signals from nine right-handed healthy subjects who underwent touching three surfaces with different levels of roughness. The experiment was separately repeated in 108 trials for each hand for both static and dynamic touch. For estimation of the functional connectivity between brain regions, the phase lag index method was employed. Frequency-specific connectivity patterns were observed in the ipsilateral and contralateral hemispheres to the hand of interest, for delta, theta, alpha, and beta frequency bands under the study. A number of connections were identified to be in charge of discrimination between surfaces in both alpha and beta frequency bands for the left hand in static touch and for the right hand in dynamic touch. In addition, common connections were determined in both hands for all three roughness in alpha band for static touch and in theta band for dynamic touch. The common connections were identified for the smooth surface in beta band for static touch and in delta and alpha bands for dynamic touch. As observed for static touch in alpha band and for dynamic touch in theta band, the number of common connections between the two hands was decreased by increasing the surface roughness. The results of this research would extend the current knowledge about tactile information processing in the brain.

Supplementary Information

The online version contains supplementary material available at 10.1007/s11571-022-09876-1.

Flexible coaxial composite fiber based on carbon nanotube and thermochromic particles for multifunctional sensor and wearable electronics

Fibrous sensors are of interest in the fields of human activity, health monitoring and human-computer interactions due to their ability to measure human activity signals such as temperature and pressure. Although many different structures and conductive materials exist for fibrous sensors, the design and fabrication of fibrous multifunctional sensors still pose significant challenges. Here, we have designed a fibrous multifunctional sensor based on a wet-spinning three-layer coaxial fiber that exhibits a GF value of up to 45.05 in the 10-80% strain range and a sensitivity of 5.926 kPa^-1 in the 0.2-2.0 kPa pressure range, while the presence of thermochromic microcapsules allows the fibrous sensor to exhibit different colors at different temperatures: blue at 18 °C, purple at 40 °C and green at 60 °C. The multifunctional fibrous sensor can monitor human joint activity and environmental temperature changes in real time, and is easier to integrate into wearable fabrics due to its fiber shape, offering new possibilities for wearable health monitoring.

Gradient adaptive sampling and multiple temporal scale 3D CNNs for tactile object recognition

Tactile object recognition (TOR) is very important for the accurate perception of robots. Most of the TOR methods usually adopt uniform sampling strategy to randomly select tactile frames from a sequence of frames, which will lead to a dilemma problem, i.e., acquiring the tactile frames with high sampling rate will get lots of redundant data, while the low sampling rate will miss important information. In addition, the existing methods usually adopt single time scale to construct TOR model, which will induce that the generalization capability is not enough for processing the tactile data generated under different grasping speeds. To address the first problem, a novel gradient adaptive sampling (GAS) strategy is proposed, which can adaptively determine the sampling interval according to the importance of tactile data, therefore, the key information can be acquired as much as possible when the number of tactile frames is limited. To handle the second problem, a multiple temporal scale 3D convolutional neural networks (MTS-3DCNNs) model is proposed, which downsamples the input tactile frames with multiple temporal scales (MTSs) and extracts the MTS deep features, and the fused features have better generalization capability for recognizing the object grasped with different speed. Furthermore, the existing lightweight network ResNet3D-18 is modified to obtain a MR3D-18 network which can match the tactile data with smaller size and prevent the overfitting problem. The ablation studies show the effectiveness of GAS strategy, MTS-3DCNNs, and MR3D-18 networks. The comprehensive comparisons with advanced methods demonstrate that our method is SOTA on two benchmarks.

Plastic Deformation in a Molecular Crystal Enables a Piezoresistive Response

Organic materials are promising candidates for the development of efficient sensors for many medicinal and materials science applications. Single crystals of a small molecule, 4-trifluoromethyl phenyl isothiocyanate (4CFNCS), exhibit plastic deformation when bent, twisted, or coiled. Synchrotron micro-focus X-ray diffraction mapping of the bent region of the crystal confirms the mechanism of deformation. The crystals are incorporated into a flexible piezoresistive sensor using a composite constituting PEDOT: PSS/4CFNCS, which shows an impressive performance at high-pressure ranges (sensitivity 0.08 kPa^-1 above 44 kPa).

High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors

GelStereo sensing technology is capable of performing three-dimensional (3D) contact shape measurement under various contact structures such as bionic curved surfaces, which has promising advantages in the field of visuotactile sensing. However, due to multi-medium ray refraction in the imaging system, robust and high-precision tactile 3D reconstruction remains a challenging problem for GelStereo-type sensors with different structures. In this paper, we first propose a universal Refractive Stereo Ray Tracing (RSRT) model for GelStereo-type sensing systems to realize 3D reconstruction of the contact surface. Moreover, a relative geometry-based optimization method is presented to calibrate multiple parameters of the proposed RSRT model, such as the refractive indices and structural dimensions. Furthermore, extensive quantitative calibration experiments are performed on four different GelStereo sensing platforms; the experimental results show that the proposed calibration pipeline can achieve less than 0.35 mm in Euclidean distance error, based on which we believe that the proposed refractive calibration method can be further applied in more complex GelStereo-type and other similar visuotactile sensing systems. Such high-precision visuotactile sensors can facilitate the study of robotic dexterous manipulation.

Recent Progress of Energy-Storage-Device-Integrated Sensing Systems

With the rapid prosperity of the Internet of things, intelligent human-machine interaction and health monitoring are becoming the focus of attention. Wireless sensing systems, especially self-powered sensing systems that can work continuously and sustainably for a long time without an external power supply have been successfully explored and developed. Yet, the system integrated by energy-harvester needs to be exposed to a specific energy source to drive the work, which provides limited application scenarios, low stability, and poor continuity. Integrating the energy storage unit and sensing unit into a single system may provide efficient ways to solve these above problems, promoting potential applications in portable and wearable electronics. In this review, we focus on recent advances in energy-storage-device-integrated sensing systems for wearable electronics, including tactile sensors, temperature sensors, chemical and biological sensors, and multifunctional sensing systems, because of their universal utilization in the next generation of smart personal electronics. Finally, the future perspectives of energy-storage-device-integrated sensing systems are discussed.

Recent Progress of Biomimetic Tactile Sensing Technology Based on Magnetic Sensors

In the past two decades, biomimetic tactile sensing technology has been a hot spot in academia. It has prospective applications in many fields such as medical treatment, health monitoring, robot tactile feedback, and human-machine interaction. With the rapid development of magnetic sensors, biomimetic tactile sensing technology based on magnetic sensors (which are called magnetic tactile sensors below) has been widely studied in recent years. In order to clarify the development status and application characteristics of magnetic tactile sensors, this paper firstly reviews the magnetic tactile sensors from three aspects: the types of magnetic sensors, the sources of magnetic field, and the structures of sensitive bodies used in magnetic tactile sensors. Secondly, the development of magnetic tactile sensors in four applications of robot precision grasping, texture characterization, flow velocity measurement, and medical treatment is introduced in detail. Finally, this paper analyzes technical difficulties and proposes prospective research directions for magnetic tactile sensors.

Degradable Bioinspired Hypersensitive Strain Sensor with High Mechanical Strength Using a Basalt Fiber as a Reinforced Layer

Flexible strain sensors have received extensive attention due to their broad application prospects. However, a majority of present flexible strain sensors may fail to maintain normal sensing performances upon external loads because of their low strength and thus their performances are affected drastically with increasing loads, which severely restricts large-area popularization and application. Scorpions with hypersensitive vibration slit sensilla are coincident with a similar predicament. Herein, it is revealed that scorpions intelligently use risky slits to detect subtle vibrations, and meanwhile, the distinct layered composites of the main body of this organ prevent catastrophic failure of the sensory structure. Furthermore, the extensive use of flexible sensors will generate a mass of electronic waste just as obsoleting silicon-based devices. Considering mechanical properties and environmental issues, a flexible strain sensor based on an elastomer (Ecoflex)-wrapped fabric with the woven structure was designed and fabricated. Note that introducing a "green" basalt fiber (BF) into a degradable elastomer can effectively avoid environmental issues and significantly enhance the mechanical properties of the sensor. As a result, it shows excellent sensitivity (gauge factor (GF) ∼138.10) and high durability (∼40,000 cycles). Moreover, the reduced graphene oxide (RGO)/BF/Ecoflex flexible strain sensor possesses superior mechanical properties (tensile strength ∼20 MPa) and good flexibility. More significantly, the sensor can maintain normal performances under large external tensions, impact loads, and even underwater environments, providing novel design principles for environmentally friendly flexible sensors under extremely harsh environments.

Bioinspired Spinosum Capacitive Pressure Sensor Based on CNT/PDMS Nanocomposites for Broad Range and High Sensitivity

Flexible pressure sensors have garnered much attention recently owing to their prospective applications in fields such as structural health monitoring. Capacitive pressure sensors have been extensively researched due to their exceptional features, such as a simple structure, strong repeatability, minimal loss and temperature independence. Inspired by the skin epidermis, we report a high-sensitivity flexible capacitive pressure sensor with a broad detection range comprising a bioinspired spinosum dielectric layer. Using an abrasive paper template, the bioinspired spinosum was fabricated using carbon nanotube/polydimethylsiloxane (CNT/PDMS) composites. It was observed that nanocomposites comprising 1 wt% CNTs had excellent sensing properties. These capacitive pressure sensors allowed them to function at a wider pressure range (~500 kPa) while maintaining sensitivity (0.25 kPa-1) in the range of 0-50 kPa, a quick response time of approximately 20 ms and a high stability even after 10,000 loading-unloading cycles. Finally, a capacitive pressure sensor array was created to detect the deformation of tires, which provides a fresh approach to achieving intelligent tires.

Fully Fibrous Large-Area Tailorable Triboelectric Nanogenerator Based on Solution Blow Spinning Technology for Energy Harvesting and Self-Powered Sensing

An all-fibrous large-area (20 × 50 cm² ) tailorable triboelectric nanogenerator (LT-TENG) is prepared using a one-step solution blow spinning technology, which has the advantages of easy operation, scale-up in the area, and high production efficiency. The prepared LT-TENG is composed of polyvinylidene fluoride (PVDF)/MXene (Ti₃ C₂ T_x ) nanofibers (NFs) and conductive textile. Benefiting from the fibrous materials and large-area properties, the LT-TENG possesses the merits of good tailorability, breathability, hydrophobicity, and washability. When optimized by mixing the MXene into PVDF NFs, the LT-TENG has a preferable output and sensing property, with a detection range over 16 kPa and a relatively high sensitivity of 12.33 V KPa^-1 . At maximum applied pressure, the voltage, current, and charge are 108 V, 38 µA, and 35 nC, respectively. This LT-TENG can serve as a biomechanical energy harvester when used as wearable devices with an output power density of 12.6 mW m^-2 at an external load resistance of 500 MΩ, and it also has the ability of self-powered tactile sensing for pressure mapping and slide sensing. Thus, this LT-TENG exhibits great potential prospects in wearable devices, intelligent robots, and human-machine interaction.

A Focused Review on the Flexible Wearable Sensors for Sports: From Kinematics to Physiologies

As an important branch of wearable electronics, highly flexible and wearable sensors are gaining huge attention due to their emerging applications. In recent years, the participation of wearable devices in sports has revolutionized the way to capture the kinematical and physiological status of athletes. This review focuses on the rapid development of flexible and wearable sensor technologies for sports. We identify and discuss the indicators that reveal the performance and physical condition of players. The kinematical indicators are mentioned according to the relevant body parts, and the physiological indicators are classified into vital signs and metabolisms. Additionally, the available wearable devices and their significant applications in monitoring these kinematical and physiological parameters are described with emphasis. The potential challenges and prospects for the future developments of wearable sensors in sports are discussed comprehensively. This review paper will assist both athletic individuals and researchers to have a comprehensive glimpse of the wearable techniques applied in different sports.

Cleaning Quality Control Management of Medical Equipment in Hospital Disinfection Supply Room Based on Smart Medicine

With the continuous improvement of medical level, the demand for medical devices increases year by year, and it is necessary to track the quality and safety of medical devices. Establishing the cleaning quality control management of medical devices can not only reduce medical accidents and inhibit the spread of counterfeit or substandard medical devices but also help enterprises find the source of problems, determine the flow of the same batch of products, and warn relevant enterprises to take measures after the occurrence of problem products, and ultimately ensure the rights and interests of consumers. This study aims to study the cleaning quality control management of medical equipment in the hospital disinfection supply room based on smart medical care and proposes related concepts of smart medical care, as well as related theories of Internet of Things technology and medical equipment tracking system and related concepts of medical equipment cleaning. In this study, by comparing the cleaning compliance rates of the two groups of medical devices through smart medical care, it can be seen that 100% of the research group applying program-based management is significantly higher than 76.6% of the conventional management path. There was statistical significance in the data comparison between groups (P < 0.05). Therefore, programmatic management is more targeted than conventional management paths.

All electrospun fabrics based piezoelectric tactile sensor

Tactile sensors have been widely used in the areas of health monitoring and intelligent human-machine interface. Flexible tactile sensors based on nanofiber mats made by electrospinning can meet the requirements of comfortability and breathability for wearing the body very well. Here, we developed a flexible and self-powered tactile sensor that was sandwich assembled by electrospun organic electrodes and a piezoelectric layer. The metal-free organic electrodes of thermal plastic polyurethane (PU) nanofibers decorated with multi-walled carbon nanotubes were fabricated by electrospinning followed by ultrasonication treatment. The electrospun polyvinylidene fluoride-trifluoroethylene (PVDF-TrFE) mat was utilized as the piezoelectric layer, and it was found that the piezoelectric performance of PVDF-TrFE nanofiber mat added with barium titanate (BaTiO₃) nanoparticles was enhanced about 187% than that of the pure PVDF-TrFE nanofiber mat. For practical application, the as-prepared piezoelectric tactile sensor exhibited an approximative linear relationship between the external force and the electrical output. Then the array of fabricated sensors was attached to the fingertips of a glove to grab a cup of water for tactile sensing, and the mass of water can be directly estimated according to the outputs of the sensor array. Attributed to the integrated merits of good flexibility, enhanced piezoelectric performance, light weight, and efficient gas permeability, the developed tactile sensor could be widely used as wearable devices for robot execution end or prosthesis for tactile feedback.

Energy Conversion Analysis of Multilayered Triboelectric Nanogenerators for Synergistic Rain and Solar Energy Harvesting

The triboelectric nanogenerator (TENG) is an emerging technology that offers excellent potential for the conversion of mechanical energy from rain into electricity for hybrid energy applications. However, a high-performance TENG is yet to be achieved because a quantitative analysis method for the energy conversion process is still lacking. Herein, a quantitative analysis method, termed the "kinetic energy calculation and current integration" (KECCI) method, which significantly improves the understanding of the mechanical-to-electrical energy conversion process, is presented. Based on the KECCI method, a high-performance TENG is developed by systematically optimizing a biomimetic surface structure and instant switch design, with 1.25 mA short-circuit current (I_sc ), 150 V open-circuit voltage (V_oc ), and a high energy-conversion efficiency of 24.89%. Furthermore, a multilayered TENG device is proposed for continuously harvesting the kinetic energy of raindrops for further improvement in the energy-conversion efficiency. Finally, the multilayered TENGs are integrated with organic photovoltaics, achieving all-weather energy harvesting. This work presents a validated theoretical basis that will guide further development of TENGs toward higher performances, which will promote the commercialization of hybrid TENG systems for all-weather applications.

Recent Advances in Flexible Sensors and Their Applications

Flexible sensors are low cost, wearable, and lightweight, as well as having a simple structure as per the requirements of engineering applications. Furthermore, for many potential applications, such as human health monitoring, robotics, wearable electronics, and artificial intelligence, flexible sensors require high sensitivity and stretchability. Herein, this paper systematically summarizes the latest progress in the development of flexible sensors. The review briefly presents the state of the art in flexible sensors, including the materials involved, sensing mechanisms, manufacturing methods, and the latest development of flexible sensors in health monitoring and soft robotic applications. Moreover, this paper provides perspectives on the challenges in this field and the prospect of flexible sensors.

Deep Learning-Assisted Triboelectric Smart Mats for Personnel Comprehensive Monitoring toward Maritime Safety

Monitoring the crew of a ship can be performed by combining sensors and artificial intelligence methods to process sensing data. In this study, we developed a deep learning (DL)-assisted minimalist structure triboelectric smart mat system for obtaining abundant crew information without the privacy concerns of taking video. The smart mat system is fabricated using a conductive sponge with different filling rates and a fluorinated ethylene propylene membrane. The proposed dual-channel measurement method improves the stability of the generated signal. Comprehensive crew and cargo monitoring, including personnel and status identification, as well as positioning and counting functions are realized by the DL-assisted triboelectric smart mat system according to the analysis of instant sensory data. Real-time monitoring of crews through fixed and mobile devices improves the ability and efficiency of handling emergencies. The smart mat system provides privacy concerns and an effective way to build ship Internet of Things and ensure personnel safety.

Large-Area and Low-Cost Force/Tactile Capacitive Sensor for Soft Robotic Applications

This paper presents a novel design and development of a low-cost and multi-touch sensor based on capacitive variations. This new sensor is very flexible and easy to fabricate, making it an appropriate choice for soft robot applications. Materials (conductive ink, silicone, and control boards) used in this sensor are inexpensive and easily found in the market. The proposed sensor is made of a wafer of different layers, silicone layers with electrically conductive ink, and a pressure-sensitive conductive paper sheet. Previous approaches like e-skin can measure the contact point or pressure of conductive objects like the human body or finger, while the proposed design enables the sensor to detect the object's contact point and the applied force without considering the material conductivity of the object. The sensor can detect five multi-touch points at the same time. A neural network architecture is used to calibrate the applied force with acceptable accuracy in the presence of noise, variation in gains, and non-linearity. The force measured in real time by a commercial precise force sensor (ATI) is mapped with the produced voltage obtained by changing the layers' capacitance between two electrode layers. Finally, the soft robot gripper embedding the suggested tactile sensor is utilized to grasp an object with position and force feedback signals.

Soft Multi-Directional Force Sensor for Underwater Robotic Application

Tactile information is crucial for recognizing physical interactions, manipulation of an object, and motion planning for a robotic gripper; however, concurrent tactile technologies have certain limitations over directional force sensing. In particular, they are expensive, difficult to fabricate, and mostly unsuitable for underwater use. Here, we present a facile and cost-effective synthesis technique of a flexible multi-directional force sensing system, which is also favorable to be utilized in underwater environments. We made use of four flex sensors within a silicone-made hemispherical shell structure. Each sensor was placed 90° apart and aligned with the curve of the hemispherical shape. If the force is applied on the top of the hemisphere, all the flex sensors would bend uniformly and yield nearly identical readings. When force is applied from a different direction, a set of flex sensors would characterize distinctive output patterns to localize the point of contact as well as the direction and magnitude of the force. The deformation of the fabricated soft sensor due to applied force was simulated numerically and compared with the experimental results. The fabricated sensor was experimentally calibrated and tested for characterization including an underwater demonstration. This study would widen the scope of identification of multi-directional force sensing, especially for underwater soft robotic applications.

A Low-Noise and Monolithic Array Tactile Sensor Based on Incremental Delta-Sigma Analog-to-Digital Converters

A low-noise and monolithic array tactile sensor, in which a tactile sensing unit, a low-noise analog front end (AFE), and a high-resolution delta-sigma analog-to-digital converter (ΔΣ ADC) are fully integrated, is presented in this paper. In this proposed system, compared with a discrete-device-based board-level system, the parasitic effect of a long cable connection can be reduced, and results are more accurate. Furthermore, a smaller system area and a lower power consumption can be achieved in this monolithic system. A discrete-continuous mixed mode bandpass AFE is proposed to filter out low-frequency flicker noise and high-frequency white noise. In order to improve the quantization rate of the sensor readout circuit and further suppress the high-frequency noise, a two-way alternate sample-and-hold circuit scheme is adopted in this design. The proposed tactile sensor is designed and fabricated in a 0.5-μm CMOS (Complementary metal oxide semiconductor)mixed-signal process with a 16 × 16 array and a total chip area of 1.9 × 1.9 cm2. This chip consumes 33.5 mW from a 5 V supply. The measurement results showed that the signal-to-noise and distortion rate (SNDR) was 65.2894 dB and that the effective number of bits (ENoB) was 10.553 dB. Moreover, this sensor could achieve a pressure measurement range of 0.002–0.5 N with a resolution of 0.4 mN.

Filament Engineering of Two-Dimensional h-BN for a Self-Power Mechano-Nociceptor System

The switching variability caused by intrinsic stochasticity of the ionic/atomic motions during the conductive filaments (CFs) formation process largely limits the applications of diffusive memristors (DMs), including artificial neurons, neuromorphic computing and artificial sensory systems. In this study, a DM device with improved device uniformity based on well-crystallized two-dimensional (2D) h-BN, which can restrict the CFs formation from three to two dimensions due to the high migration barrier of Ag⁺ between h-BN interlayer, is developed. The BN-DM has potential arrayable feature with high device yield of 88%, which can be applied for building a reservoir computing system for digital pattern recognition with high accuracy rate of 96%, and used as an artificial nociceptor to sense the external noxious stimuli and mimic the important biological nociceptor properties. By connecting the BN-DM to a self-made triboelectric nanogenerator (TENG), a self-power mechano-nociceptor system, which can successfully mimic the important nociceptor features of "threshold", "relaxation" and "allodynia" is designed.

Piezoelectric nanogenerators for personalized healthcare

The development of flexible piezoelectric nanogenerators has experienced rapid progress in the past decade and is serving as the technological foundation of future state-of-the-art personalized healthcare. Due to their highly efficient mechanical-to-electrical energy conversion, easy implementation, and self-powering nature, these devices permit a plethora of innovative healthcare applications in the space of active sensing, electrical stimulation therapy, as well as passive human biomechanical energy harvesting to third party power on-body devices. This article gives a comprehensive review of the piezoelectric nanogenerators for personalized healthcare. After a brief introduction to the fundamental physical science of the piezoelectric effect, material engineering strategies, device structural designs, and human-body centered energy harvesting, sensing, and therapeutics applications are also systematically discussed. In addition, the challenges and opportunities of utilizing piezoelectric nanogenerators for self-powered bioelectronics and personalized healthcare are outlined in detail.

Research Progress on Hydrogel-Elastomer Adhesion

Hydrophilic hydrogels exhibit good mechanical properties and biocompatibility, whereas hydrophobic elastomers show excellent stability, mechanical firmness, and waterproofing in various environments. Hydrogel-elastomer hybrid material devices show varied application prospects in the field of bioelectronics. In this paper, the research progress in hydrogel-elastomer adhesion in recent years, including the hydrogel-elastomer adhesion mechanism, adhesion method, and applications in the bioelectronics field, is reviewed. Finally, the research status of adhesion between hydrogels and elastomers is presented.

Moisture-resistant MXene-sodium alginate sponges with sustained superhydrophobicity for monitoring human activities

Wearable mechanical sensors are easily influenced by moisture resulting in inaccuracy for monitoring human health and body motions. Though the superhydrophobic barrier has been extensively explored as passive water repel strategy on the sensor surface, the dense superhydrophobic surface not only limits the sensor working under large deformations but also inevitable degradation in high humidity or saturation water vapor environments. This work reports a superhydrophobic MXene-sodium alginate sponge (SMSS) pressure sensor with a low voltage Joule heating effect to provide sustain moisture-insensitive property for both sensing performance and superhydrophobicity by heating-driven water molecules away. Because of the positive temperature coefficient under pressure applied, the Joule heating can provides a stable temperature to the moisture-insensitivity property during the whole dynamic pressure cycled. Therefore, the pressure sensor with a simple spray-coating superhydrophobic coating on the outer layer demonstrates key capabilities even in extreme use scenarios with high humidity or water vapor and also provides stable and reliable bio-signal monitoring.

Biodegradable, Breathable Leaf Vein-Based Tactile Sensors with Tunable Sensitivity and Sensing Range

Resistive pressure sensors have been widely studied for application in flexible wearable devices due to their outstanding pressure-sensitive characteristics. In addition to the outstanding electrical performance, environmental friendliness, breathability, and wearable comfortability also deserve more attention. Here, a biodegradable, breathable multilayer pressure sensor based piezoresistive effect is presented. This pressure sensor is designed with all biodegradable materials, which show excellent biodegradability and breathability with a three-dimensional porous hierarchical structure. Moreover, due to the multilayer structure, the contact area of the pressure sensitive layers is greatly increased and the loading pressure can be distributed to each layer, so the pressure sensor shows excellent pressure-sensitive characteristics over a wide pressure sensing range (0.03-11.60 kPa) with a high sensitivity (6.33 kPa^-1 ). Furthermore, the sensor is used as a human health monitoring equipment to monitor the human physiological signals and main joint movements, as well as be developed to detect different levels of pressure and further integrated into arrays for pressure imaging and a flexible musical keyboard. Considering the simple manufacturing process, the low cost, and the excellent performance, leaf vein-based pressure sensors provide a good concept for environmentally friendly wearable devices.

Anisotropic Carrier Mobility from 2H WSe2

Transition metal dichalcogenides (TMDCs) with 2H phase are expected to be building blocks in next-generation electronics; however, they suffer from electrical anisotropy, which is the basics for multi-terminal artificial synaptic devices, digital inverters, and anisotropic memtransistors, which are highly desired in neuromorphic computing. Herein, the anisotropic carrier mobility from 2H WSe₂ is reported, where the anisotropic degree of carrier mobility spans from 0.16 to 0.95 for various WSe₂ field-effect transistors under a gate voltage of -60 V. Phonon scattering, impurity ions scattering, and defect scattering are excluded for anisotropic mobility. An intrinsic screening layer is proposed and confirmed by Z-contrast scanning transmission electron microscopy (STEM) imaging to respond to the electrical anisotropy. Seven types of intrinsic screening layers are created and calculated by density functional theory to evaluate the modulated electronic structures, effective masses, and scattering intensities, resulting in anisotropic mobility. The discovery of anisotropic carrier mobility from 2H WSe₂ provides a degree of freedom for adjusting the physical properties of 2H TMDCs and fertile ground for exploring and integrating TMDC electronic transistors with better performance along the direction of high mobility.

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

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

High-strength, high-toughness, self-healing thermosetting shape memory polyurethane enabled by dual dynamic covalent bonds

Smart materials that integrate multiple functions into one system will broaden the application range of materials, but there are still challenges to obtain a material with excellent shape memory, toughness,...

Recent Progress in Flexible Tactile Sensors for Human-Interactive Systems: From Sensors to Advanced Applications

Flexible tactile sensors capable of measuring mechanical stimuli via physical contact have attracted significant attention in the field of human-interactive systems. The utilization of tactile information can complement vision and/or sound interaction and provide new functionalities. Recent advancements in micro/nanotechnology, material science, and information technology have resulted in the development of high-performance tactile sensors that reach and even surpass the tactile sensing ability of human skin. Here, important advances in flexible tactile sensors over recent years are summarized, from sensor designs to system-level applications. This review focuses on the representative strategies based on design and material configurations for improving key performance parameters including sensitivity, detection range/linearity, response time/hysteresis, spatial resolution/crosstalk, multidirectional force detection, and insensitivity to other stimuli. System-level integration for practical applications beyond conceptual prototypes and promising applications, such as artificial electronic skin for robotics and prosthetics, wearable controllers for electronics, and bidirectional communication tools, are also discussed. Finally, perspectives on issues regarding further advances are provided.

Triboelectric-optical responsive cholesteric liquid crystals for self-powered smart window, E-paper display and optical switch

Intelligent responsive devices are crucial for a variety of applications ranging from smart electronics to robotics. Electro-responsive cholesteric liquid crystals (CLC) have been widely applied in display panels, smart windows, and so on. In this work, we realize the mechanical stimuli-triggered optical responses of the CLC by integrating it with a triboelectric nanogenerator (TENG), which converts the mechanical motion into alternating current electricity and then tunes the different optical responses of the CLC. When the voltage applied on the CLC is relatively low (15-40 V), the TENG drives the switching between the bistable planar state and focal conic state of the CLC, which shows potential applications in self-powered smart windows or E-paper displays. When the voltage supplied by the TENG is larger than 60 V, a self-powered optical switch is demonstrated by utilizing the transformation between focal conic state and instantons homeotropic state of the CLC. This triboelectric-optical responsive device consumes no extra electric power and suggests a great potential for future smart electronics.

All-in-One Self-Powered Human-Machine Interaction System for Wireless Remote Telemetry and Control of Intelligent Cars

The components in traditional human-machine interaction (HMI) systems are relatively independent, distributed and low-integrated, and the wearing experience is poor when the system adopts wearable electronics for intelligent control. The continuous and stable operation of every part always poses challenges for energy supply. In this work, a triboelectric technology-based all-in-one self-powered HMI system for wireless remote telemetry and the control of intelligent cars is proposed. The dual-network crosslinking hydrogel was synthesized and wrapped with functional layers to fabricate a stretchable fibrous triboelectric nanogenerator (SF-TENG) and a supercapacitor (SF-SC), respectively. A self-charging power unit containing woven SF-TENGs, SF-SCs, and a power management circuit was exploited to harvest mechanical energy from the human body and provided power for the whole system. A smart glove designed with five SF-TENGs on the dorsum of five fingers acts as a gesture sensor to generate signal permutations. The signals were processed by the microcontroller and then wirelessly transmitted to the intelligent car for remote telemetry and control. This work is of paramount potential for the application of various terminal devices in self-powered HMI systems with high integration for wearable electronics.

Ultrathin Tactile Sensors with Directional Sensitivity and a High Spatial Resolution

An ultrathin tactile sensor with directional sensitivity and capable of mapping at a high spatial resolution is proposed and demonstrated. Each sensor node consists of two gallium nitride (GaN) nanopillar light-emitting diodes. Shear stress applied on the nanopillars causes the electrons and holes to separate in the radial direction and reduces the light intensity emitted from the nanopillars. A sensor array comprising 64 sensor nodes was designed and fabricated. Two-dimensional directional sensitivity was experimentally confirmed with a dynamic range of 1-30 mN and an accuracy of ±1.3 mN. Tracking and mapping of an external force moving across the sensor array were also demonstrated. Finally, the proposed tactile sensor's sensitivity was tested with a fingertip gently moving across the sensor array. The sensor successfully registered the finger movement's direction and fingerprint pattern.

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

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

Robust Estimation of Contact Force and Location for Magnetic-Field-Based Soft Tactile Sensor Considering Magnetic Source Inconsistency

Flexible magnetic-field-based tactile sensors (FMFTS) have numerous advantages including low cost, ease of manufacture, simple wiring, high sensitivity, and so on. Flexible magnetic-field-based tactile sensors need to be calibrated before use to build accurate mapping between contact force and magnetic field intensity measured by magnetic sensors; however, when considering remanence inconsistency of magnetic source, each FMFTS needs to be calibrated independently to enhance accuracy, and the complex preparation prevents FMFTS from being used conveniently. A robust estimation method of contact force and location that can tolerate remanence inconsistency of magnetic source in FMFTS is proposed. Firstly, the position and orientation of magnetic source were tracked using the Levenberg-Marquart algorithm, and the tracking results were insensitive to the remanence of magnetic source with appropriate cost function. Secondly, the mapping between magnitude and location of contact force and position and orientation of magnetic source was built with calibration of one sensor; the mapping only depends on the structural response of flexible substrate, and thus can be extended to estimate external force and location for other sensors with the same structure. The proposed method was evaluated in both simulations and experiments, and the results confirm that the estimation of magnitude and location of external force for FMFTS with the same structure and different remanence could reach acceptable accuracy, depending on single calibration. The proposed method can be used to simplify the calibration procedure and remove the barrier for large-scale application of FMFTS and replacement of damaged FMFTS.

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.

A Flexible Integrated Bending Strain and Pressure Sensor System for Motion Monitoring

Flexible sensors have attracted increasing research interest due to their broad application potential in the fields of human-computer interaction, medical care, sports monitoring, etc. Constructing an integrated sensor system with high performance and being capable of discriminating different stimuli remains a challenge. Here, we proposed a flexible integrated sensor system for motion monitoring that can measure bending strain and pressure independently with a low-cost and simple fabrication process. The resistive bending strain sensor in the system is fabricated by sintering polyimide (PI), demonstrating a gauge factor of 9.54 and good mechanical stability, while the resistive pressure sensor is constructed based on a composite structure of silver nanowires (AgNWs) and polydimethylsiloxane (PDMS)-expandable microspheres with a tunable sensitivity and working range. Action recognition is demonstrated by attaching the flexible integrated sensor system on the wrist with independent strain and pressure information recorded from corresponding sensors. It shows a great application potential in motion monitoring and intelligent human-machine interfaces.