Highly sensitive flexible three-axis tactile sensors based on the interface contact resistance of microstructured graphene

Three-Dimensionally Architected Tactile Electronic Skins

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

Dome-Structure Array from Pre-Strained Extendable Mesh for Tactile Sensing Without Crosstalk and Lateral Strain Interference

Flexible tactile sensors have received significant attention for use in wearable applications such as robotics, human-machine interfaces, and health monitoring. However, conventional tactile sensors face challenges in accurately measuring pressure because vertical deformation is induced by Poisson's ratio in situations where lateral strain is applied. This study shows a strain-insensitive flexible tactile sensor array without the crosstalk effect using a highly stretchable mesh. This sensor is fabricated by assembling a sensing layer in which sensing cells form in each hole of an elastomer mesh and liquid-metal-based stretchable electrode layers. Stretching deforms the soft mesh layer with little effect on the rigid sensing cell array, which results in the sensor being insensitive to uniaxial strain. In addition, each sensing cell is formed in a dome shape, which resulted in a sensor exhibiting high sensitivity (7.80 kPa-1) over a wide sensing range (<160 kPa). The proposed design also allows each sensing cell to be electrically separated, enabling the pressure measurements without cell-to-cell crosstalk. Based on these characteristics, strain-insensitive pressure monitoring is demonstrated to prevent carpal/cubital tunnel syndrome by attaching the device to the joints, which suggests its potential application in healthcare.

Deep learning-assisted object recognition with hybrid triboelectric-capacitive tactile sensor

Tactile sensors play a critical role in robotic intelligence and human-machine interaction. In this manuscript, we propose a hybrid tactile sensor by integrating a triboelectric sensing unit and a capacitive sensing unit based on porous PDMS. The triboelectric sensing unit is sensitive to the surface material and texture of the grasped objects, while the capacitive sensing unit responds to the object's hardness. By combining signals from the two sensing units, tactile object recognition can be achieved among not only different objects but also the same object in different states. In addition, both the triboelectric layer and the capacitor dielectric layer were fabricated through the same manufacturing process. Furthermore, deep learning was employed to assist the tactile sensor in accurate object recognition. As a demonstration, the identification of 12 samples was implemented using this hybrid tactile sensor, and an recognition accuracy of 98.46% was achieved. Overall, the proposed hybrid tactile sensor has shown great potential in robotic perception and tactile intelligence.

A Skin-Inspired High-Performance Tactile Sensor for Accurate Recognition of Object Softness

High-performance tactile sensors with skin-sensing properties are crucial for intelligent perception in next-generation smart devices. However, previous studies have mainly focused on the sensitivity and response range of tactile sensation while neglecting the ability to recognize object softness. Therefore, achieving a precise perception of the softness remains a challenge. Here, we report an integrated tactile sensor consisting of a central hole gradient structure pressure sensor and a planar structure strain sensor. The recognition of softness and tactile perception is achieved through the synergistic effect of pressure sensors that sense the applied pressure and strain sensors that recognize the strain of the target object. The results indicate that the softness evaluation parameter (SC) of the integrated structural tactile sensor increases from 0.14 to 0.47 along with Young's modulus of the object decreasing from 2.74 to 0.45 MPa, demonstrating accurate softness recognition. It also exhibits a high sensitivity of 10.55 kPa-1 and an ultrawide linear range of 0-1000 kPa, showing an excellent tactile sensing capability. Further, an intelligent robotic hand system based on integrated structural tactile sensors was developed, which can identify the softness of soft foam and glass and grasp them accurately, indicating human skin-like sensing and grasping capabilities.

Research on high sensitivity piezoresistive sensor based on structural design

With the popularity of smart terminals, wearable electronic devices have shown great market prospects, especially high-sensitivity pressure sensors, which can monitor micro-stimuli and high-precision dynamic external stimuli, and will have an important impact on future functional development. Compressible flexible sensors have attracted wide attention due to their simple sensing mechanism and the advantages of light weight and convenience. Sensors with high sensitivity are very sensitive to pressure and can detect resistance/current changes under pressure, which has been widely studied. On this basis, this review focuses on analyzing the performance impact of device structure design strategies on high sensitivity pressure sensors. The design of structures can be divided into interface microstructures and three-dimensional framework structures. The preparation methods of various structures are introduced in detail, and the current research status and future development challenges are summarized.

Flexible Three-Dimensional Force Tactile Sensor Based on Velostat Piezoresistive Films

The development of a high-performance, low-cost, and simply fabricated flexible three-dimensional (3D) force sensor is essential for the future development of electronic skins suitable for the detection of normal and shear forces for several human motions. In this study, a sandwich-structured flexible 3D force tactile sensor based on a polyethylene-carbon composite material (velostat) is presented. The sensor has a large measuring range, namely, 0-12 N in the direction of the normal force and 0-2.6 N in the direction of the shear force. For normal forces, the sensitivity is 0.775 N-1 at 0-1 N, 0.107 N-1 between 1 and 3 N, and 0.003 N-1 at 3 N and above. For shear forces, the measured sensitivity is 0.122 and 0.12 N-1 in x- and y-directions, respectively. Additionally, the sensor exhibits good repeatability and stability after 2500 cycles of loading and releasing. The response and recovery times of the sensor are as fast as 40 and 80 ms, respectively. Furthermore, we prepared a glove-like sensor array. When grasping the object using the tactile glove, the information about the force applied to the sensing unit can be transmitted through a wireless system in real-time and displayed on a personal computer (PC). The prepared flexible 3D force sensor shows broad application prospects in the field of smart wearable devices.

Bionic Surfaces for Fog Collection: A Comprehensive Review of Natural Organisms and Bioinspired Strategies

Water scarcity has become a critical global threat, particularly in arid and underdeveloped regions. However, certain insects and plants have evolved the capability to obtain water from fog under these arid conditions. Bionic fog collection, characterized by passive harvesting, minimal energy requirements, and low maintenance costs, has proven to be an efficient method for water harvesting, offering a sustainable water source. This review introduces two superwettable surfaces, namely, superhydrophilic and superhydrophobic surfaces, detailing their preparation methods and applications in fog collection. The fog collection mechanisms of three typical natural organisms, Namib Desert beetles, spider silk, and cactus, along with their bionic surfaces for fog collection devices, are discussed. Additionally, other biological surfaces exhibiting fog transport properties are presented. The main challenges regarding the fabrication and application of bionic fog collection are summarized. Furthermore, we firmly believe that environmentally friendly, low-cost, and stable fog collection materials or devices hold promising prospects for future applications.

Fully 3D printed flexible, conformal and multi-directional tactile sensor with integrated biomimetic and auxetic structure

Tactile sensors play a crucial role in the development of biologically inspired robotic prostheses, particularly in providing tactile feedback. However, existing sensing technology still falls short in terms of sensitivity under high pressure and adaptability to uneven working surfaces. Furthermore, the fabrication of tactile sensors often requires complex and expensive manufacturing processes, limiting their widespread application. Here we develop a conformal tactile sensor with improved sensing performance fabricated using an in-house 3D printing system. Our sensor detects shear stimuli through the integration of an auxetic structure and interlocking features. The design enables an extended sensing range (from 0.1 to 0.26 MPa) and provides sensitivity in both normal and shear directions, with values of 0.63 KPa−1 and 0.92 N−1, respectively. Additionally, the sensor is capable of detecting temperature variations within the range of 40−90 °C. To showcase the feasibility of our approach, we have printed the tactile sensor directly onto the fingertip of an anthropomorphic robotic hand, the proximal femur head, and lumbar vertebra. The results demonstrate the potential for achieving sensorimotor control and temperature sensing in artificial upper limbs, and allowing the monitoring of bone-on-bone load.

Yuyang Wei and colleagues use 3D printing to fabricate tactile sensors with an auxetic structure design capable of detecting both forces and temperature for use in prosthetics and other robotic applications.

Anisotropic Piezoresistive Sensors Made with Magnetically Induced Vertically Aligned Carbon Nanotubes/Polydimethylsiloxane

A piezoresistive material consisting of internal vertically aligned carbon nanotubes acting in concert with an external microdome structure is prepared to obtain a flexible piezoresistive sensor with high anisotropy. Here, we first obtained flexible piezoresistive composites (VCP) with anisotropic properties by inducing the vertical alignment of multiwalled carbon nanotubes in the pressure direction under a weak magnetic field of 0.6 T. Then, the composite with a microdome structure on the surface (m-VCP) was fabricated by a mold with a microstructure to further increase the anisotropy of the composite. The m-VCP microstructure was docked with VCP and placed between two layers of copper foil. With the synergistic effect of vertically aligned carbon nanotubes and the microdome structure, the sensitivity of the flexible sensor in the pressure direction was dramatically increased. In the low-strain range (0-6%), the sensitivity of m-VCP (GF = 9.208) is improved by 49% compared to m-CP and by 86% compared to VCP. The sensor has high anisotropy in the piezoresistive direction and retains good fatigue resistance under fatigue testing for 2000 cycles. This means that the sensor can be used in emerging fields such as human health monitoring, wearable electronics, and intelligent human-computer interaction.

A BTO/PVDF/PDMS Piezoelectric Tangential and Normal Force Sensor Inspired by a Wind Chime

There is a growing demand for flexible pressure sensors in environmental monitoring and human-robot interaction robotics. A flexible and susceptible sensor can discriminate multidirectional pressure, thus effectively detecting signals of small environmental changes and providing solutions for personalized medicine. This paper proposes a multidimensional force detection sensor inspired by a wind chime structure with a three-dimensional force structure to detect and analyze normal and shear forces in real time. The force-sensing structure of the sensor consists of an upper and lower membrane on a polydimethylsiloxane substrate and four surrounding cylinders. A piezoelectric hemisphere is made of BTO/PVDF/PDMS composite material. The sensor columns in the wind chime structure surround the piezoelectric layer in the middle. When pressure is applied externally, the sensor columns are connected to the piezoelectric layer with a light touch. The piezoelectric hemisphere generates a voltage signal. Due to the particular structure of the sensor, it can accurately capture multidimensional forces and identify the direction of the external force by analyzing the position of the sensor and the output voltage amplitude. The development of such sensors shows excellent potential for self-powered wearable sensors, human-computer interaction, electronic skin, and soft robotics applications.

Skin-Inspired Tactile Sensor on Cellulose Fiber Substrates with Interfacial Microstructure for Health Monitoring and Guitar Posture Feedback

Skin-inspired flexible tactile sensors, with interfacial microstructure, are developed on cellulose fiber substrates for subtle pressure applications. Our device is made of two cellulose fiber substrates with conductive microscale structures, which emulate the randomly distributed spinosum in between the dermis and epidermis layers of the human skin. The microstructures not only permit a higher stress concentration at the tips but also generate electrical contact points and change contact resistance between the top and bottom substrates when the pressure is applied. Meanwhile, cellulose fibers possessing viscoelastic and biocompatible properties are utilized as substrates to mimic the dermis and epidermis layers of the skin. The electrical contact resistances (ECR) are then measured to quantify the tactile information. The microstructures and the substrate properties are studied to enhance the sensors' sensitivity. A very high sensitivity (14.4 kPa^-1) and fast recovery time (approx. 2.5 ms) are achieved in the subtle pressure range (approx. 0-0.05 kPa). The device can detect subtle pressures from the human body due to breathing patterns and voice activity showing its potential for healthcare. Further, the guitar strumming and chord progression of the players with different skill levels are assessed to monitor the muscle strain during guitar playing, showing its potential for posture feedback in playing guitar or another musical instrument.

A Flexible Pressure Sensor Based on Silicon Nanomembrane

With advances in new materials and technologies, there has been increasing research focused on flexible sensors. However, in most flexible pressure sensors made using new materials, it is challenging to achieve high detection sensitivity across a wide pressure range. Although traditional silicon-based sensors have good performance, they are not formable and, because of their rigidity and brittleness, they are not suitable for fitting with soft human skin, which limits their application in wearable devices to collect various signals. Silicon nanomembranes are ultra-thin, flexible materials with excellent piezoresistive properties, and they can be applied in various fields, such as in soft robots and flexible devices. In this study, we developed a flexible pressure sensor based on the use of silicon nanomembranes (with a thickness of only 340 nm) as piezoresistive units, which were transferred onto a flexible polydimethylsiloxane (PDMS) substrate. The flexible pressure sensor operated normally in the range of 0-200 kPa, and the sensitivity of the sensor reached 0.0185 kPa^-1 in the low-pressure range of 0-5 kPa. In the high-pressure range of 5-200 kPa, the sensitivity of the sensor was maintained at 0.0023 kPa^-1. The proposed sensor exhibited a fast response and excellent long-term stability and could recognize human movements, such as the bending of fingers and wrist joints, while maintaining a stable output. Thus, the developed flexible pressure sensor has promising applications in body monitoring and wearable devices.

Magneto-Tactile Sensor Based on a Commercial Polyurethane Sponge

In this paper, we present the procedure for fabricating a new magneto-tactile sensor (MTS) based on a low-cost commercial polyurethane sponge, including the experimental test configuration, the experimental process, and a description of the mechanisms that lead to obtaining the MTS and its characteristics. It is shown that by using a polyurethane sponge, microparticles of carbonyl iron, ethanol, and copper foil with electroconductive adhesive, we can obtain a high-performance and low-cost MTS. With the experimental assembly described in this paper, the variation in time of the electrical capacity of the MTS was measured in the presence of a deforming force field, a magnetic field, and a magnetic field superimposed over a deformation field. It is shown that, by using an external magnetic field, the sensitivity of the MTS can be increased. Using the magnetic dipole model and linear elasticity approximation, the qualitative mechanisms leading to the reported results are described in detail.

A flexible tactile sensor that uses polyimide/graphene oxide nanofiber as dielectric membrane for vertical and lateral force detection

Flexible force sensors are of great interest in the fields of healthcare, physiological signals, and aircraft smart skin applications because of their compatibility with curved surfaces. However, the simultaneous detection of multidirectional forces remains an engineering challenge, despite the great progress made in recent years. Herein, we present the development of a flexible capacitive force sensor capable of efficiently distinguishing normal and sliding shear forces. A two-layer electrospun polyimide/graphene oxide (PI/GO) nanofiber membrane is used as the dielectric layer, which is sandwiched between one top electrode and four symmetrically distributed bottom electrodes. This composite membrane has an improved dielectric constant, a reduced friction coefficient, and good compressibility, leading to superior performance that includes high sensitivity over a wide operational range with measured results of 3 MPa^-1for 0-242 kPa (0-2.2 N) and 0.92 MPa^-1for 242-550 kPa (2.2-5 N) in the normal direction; and better than 1 N^-1for 0-3 N in thex- andy-axis directions. The system also has a low detection limit of 10 Pa, fast response and recovery times of 39 ms and 13 ms, respectively, a good cyclic stability of 10,000 cycles at a pressure of 176 kPa, and promising potential for use in high-temperature environments (200 °C). Moreover, a prototype 4 × 4 sensor array has been fabricated and successfully used in a robotic system to grasp objects and operate a wireless toy car. As such, the proposed system could offer superior capabilities in simultaneous multidirectional force sensing for applications such as intelligent robots, human-machine interaction, and smart skin.

Research on the High Sensitivity Detection Method of Carbon Nanotube/Polydimethylsiloxane Composites Structure

In this paper, a carbon nanotube (CNT)/polydimethylsiloxane (PDMS) composite force-sensitive structure with good flexibility is proposed and fabricated, and the measurement of scanning electron microscopy (SEM) and Raman are carried out. The equivalent circuit of force-sensitive test of structure is performed and analyzed under direct current (DC) and alternating current (AC) conditions. Under AC conditions, experimental results further show that the sensitivity and sensitivity factors of force-sensitive structures are 0.15 KPa-1 and 2.17 in the pressure range of 600-1000 KPa compressive stress and 20-50% tensile stress, respectively. These results are increased by 36.4% and 38.2% compared to the results of compressive stress (0.11 KPa-1) and tensile stress (1.57) under DC conditions, respectively. It shows that the carbon nanotube/PDMS composite has higher test accuracy under AC conditions.

Surface-microstructured cellulose films toward sensitive pressure sensors and efficient triboelectric nanogenerators

To achieve environmental sustainability, cellulose-based functional materials have been extensively used in advanced electronic devices, such as pressure sensor and triboelectric nanogenerator (TENG). Here, we fabricate the surface-microstructured cellulose films (M-CFs) by facile regeneration and hot pressing combined with screen mesh templating. Through simple carbonization, the M-CFs are further converted into the surface-microstructured carbonized cellulose films (M-CCFs) with a good conductivity but maintain the original array concave-pits on surface. These constructed microstructures, which are tunable via controlling the screen mesh's aperture, endow the assembled electronics with adjustable and improved working performance. The pressure sensors with M-CCFs as active materials exhibit an enhanced sensitivity in a wide working range and promising potentials for applications in motions detection and healthcare. The TENGs with M-CFs as tribo-positive friction layers demonstrate higher electrical output and an efficient energy harvesting. Our work provides novel insights into the design and construction of cellulose-based functional films for eco-friendly advanced applications.

Imaging dynamic three-dimensional traction stresses

Traction stress between contact objects is ubiquitous and crucial for various physical, biological, and engineering processes such as momentum transfer, tactile perception, and mechanical reliability. Newly developed techniques including electronic skin or traction force microscopy enable traction stress measurement. However, measuring the three-dimensional distribution during a dynamic process remains challenging. Here, we demonstrated a method based on stereo vision to measure three-dimensional traction stress with high spatial and temporal resolution. It showed the ability to image the two-stage adhesion failure of bionic microarrays and display the contribution of elastic resistance and adhesive traction to rolling friction at different contact regions. It also revealed the distributed sucking and sealing effect of the concavity pedal waves that propelled a snail crawling in the horizontal, vertical, and upside-down directions. We expected that the method would advance the understanding of various interfacial phenomena and greatly benefit related applications across physics, biology, and robotics.

Flexible Sensory Systems: Structural Approaches

Biology is characterized by smooth, elastic, and nonplanar surfaces; as a consequence, soft electronics that enable interfacing with nonplanar surfaces allow applications that could not be achieved with the rigid and integrated circuits that exist today. Here, we review the latest examples of technologies and methods that can replace elasticity through a structural approach; these approaches can modify mechanical properties, thereby improving performance, while maintaining the existing material integrity. Furthermore, an overview of the recent progress in wave/wrinkle, stretchable interconnect, origami/kirigami, crack, nano/micro, and textile structures is provided. Finally, potential applications and expected developments in soft electronics are discussed.

Radio Frequency Resonator-Based Flexible Wireless Pressure Sensor with MWCNT-PDMS Bilayer Microstructure

Flexible pressure sensors have been widely applied in wearable devices, e-skin, and the new generation of robots. However, most of the current sensors use connecting wires for energy supply and signal transmission, which presents an obstacle for application scenarios requiring long endurance and large movement, especially. Flexible sensors combined with wireless technology is a promising research field for realizing efficient state sensing in an active state. Here, we designed and fabricated a soft wireless passive pressure sensor, with a fully flexible Ecoflex substrate and a multi-walled carbon nanotube/polydimethylsiloxane (MWCNT/PDMS) bilayer pyramid dielectric structure. Based on the principle of the radio-frequency resonator, the device achieved pressure sensing with a changeable capacitance. Subsequently, the effect of the pyramid density was simulated by the finite element method to improve the sensitivity. With one-step embossing and spin-coating methods, the fabricated sensor had an optimized sensitivity of 14.25 MHz/kPa in the low-pressure range. The sensor exhibited the potential for application in limb bending monitoring, thus demonstrating its value for long-term wireless clinical monitoring. Moreover, the radio frequency coupling field can be affected by approaching objects, which provides a possible route for realizing non-contact sensing in applications such as pre-collision warning.

Graded Microstructured Flexible Pressure Sensors with High Sensitivity and an Ultrabroad Pressure Range for Epidermal Pulse Monitoring

Precisely detecting epidermal pulse waves with pressure sensors is crucial for pulse-based personalized health-monitoring technologies. However, developing a pressure sensor that simultaneously demonstrates high sensitivity and an ultrabroad pressure range and a convenient fabrication process for large-scale production is a considerable challenge. Herein, by utilizing a commercial conductive fabric (CF) and a silica gel film, we develop a high-performance pressure sensor (HPPS) for the monitoring of human physiological signals. Based on convenient turnover formwork technology, the silica gel film was fabricated by replicating the microstructure of the sandpaper surface. This microstructure and the plain weave structure on the CF surface together provide a sharp increase in the contact-separation area and structural compressibility, which are beneficial for the enhancement of output performance. Made of these two materials, the graded microstructured HPPS holds high sensitivity (4.5 mV/Pa), an ultrabroad pressure range (0-30 kPa), a wide working frequency bandwidth (up to 35 Hz), decent stability (>50,000 cycles), and a simple fabrication process that is suitable for large-scale production. Given these noticeable features, the developed HPPS not only succeeds in precisely detecting subtle pulse waves on various positions of different people but can also objectively capture changes in cardiovascular parameters caused by exercise training at different intensities in real time. These findings exhibit the enormous potential application of HPPS in tracking an individual's health status and comprehensively evaluating exercise intensity.

Tactile Interaction Sensor with Millimeter Sensing Acuity

In this article we report on a 3 × 3 mm tactile interaction sensor that is able to simultaneously detect pressure level, pressure distribution, and shear force direction. The sensor consists of multiple mechanical switches under a conducting diaphragm. An external stimulus is measured by the deflection of the diaphragm and the arrangement of mechanical switches, resulting in low noise, high reliability, and high uniformity. Our sensor is able to detect tactile forces as small as ~50 mgf along with the direction of the shear force. It also distinguishes whether there is a normal pressure during slip motion. We also succeed in detecting the contact shape and the contact motion, demonstrating potential applications in robotics and remote input interfaces. Since our sensor has a simple structure and its function depends only on sensor dimensions, not on an active sensing material, in comparison with previous tactile sensors, our sensor shows high uniformity and reliability for an array-type integration.

Roll-to-roll layer-by-layer assembly bark-shaped carbon nanotube/Ti3C2Tx MXene textiles for wearable electronics

Smart wearable electronics have drawn increasing attention for their potential applications in personal thermal management, human health monitoring, portable energy conversion/storage, electronic skin and so on. However, it is still a critical challenge to fabricate the multifunctional textiles with tunable morphology and performance while performing well in flexibility, air permeability, wearing comfortability. Herein, we develop a novel roll-to-roll layer-by-layer assembly strategy to construct bark-shaped carbon nanotube (CNT)/Ti₃C₂T_x MXene composite film on the fiber surface. The fabricated bark-shaped CNT/MXene decorated fabrics (CMFs) exhibit good flexibility, air permeability and electrical conductivity (sheet resistance, 6.6 Ω/□). In addition, the CMFs demonstrate good electrothermal performance (70.9 °C, 5 V), electromagnetic interference (EMI) shielding performance (EMI shielding effectiveness, 30.0 dB under X-Brand), and high sensitivity as the flexible piezoresistive sensors for monitoring the human motions. Importantly, our CMFs show distinctive EMI shielding mechanism, where a great proportion of incident electromagnetic microwaves are reflected by the bark-shaped CNT/MXene films owing to the multi-interface scattering effects. This work may provide a new strategy for the fabrication of multifunctional textile-based electronics and pave the way for smart wearable electronics.

Synergy of Porous Structure and Microstructure in Piezoresistive Material for High-Performance and Flexible Pressure Sensors

A porous and microstructure piezoresistive material composed of polydimethylsiloxane (PDMS) and multiwalled carbon nanotubes (MWCNTs) was designed and prepared for a flexible and highly sensitive pressure sensor over a wide detection range. The microstructure was patterned on the surface of the partially cured PDMS/MWCNTs/NaCl mixture by imprinting a nonwoven fabric. After curing and dissolving the NaCl powders, the porous and surface microstructure PDMS/MWCNT film was obtained. Two PDMS/MWCNT films were stacked together and sandwiched between two copper foil electrodes, in which the two microstructure surfaces were in contact with the electrodes. Due to the synergistic effects of the combination of the porous structure and surface microstructure, the flexible sensor had highly sensitive response over a wide pressure range from 1 Pa to 100 kPa. Under the small pressure, the high sensitivity was achieved by the change in contact areas between the electrodes and the surface microstructures; at high pressure up to 100 kPa, the sensor retained its high sensitivity because of the porous structure of the piezoresistive PDMS/MWCNT material. Additionally, the sensor had fast response speed and good durability. The piezoresistive pressure sensors based on the porous and microstructure PDMS/MWCNTs were demonstrated in detection of sound, monitoring of human activities, and array mapping of the spatial pressure distribution.

A shapeable, ultra-stretchable rubber strain sensor based on carbon nanotubes and Ag flakes via melt-mixing process

Promoting the detection range, durability, and shapeable manufacturing of flexible strain sensors is essential to broaden their applications. Therefore, in this study, styrene ethylene butylene styrene (SEBS) rubber as a flexible material and a melt-mixing molding method are adopted to design an ultra-flexible strain sensor. Carbon nanotubes (CNTs) are added to form a conductive network, and the effect of Ag flakes on improving the sensor performance is studied. The experiment results exhibit good strain-resistance dependent characteristics of the obtained sensor, which demonstrates an excellent sensing range of about 540% with a gauge factor (GF) of 5.197. The good hydrophobicity (water contact angle ≈120.4°), repeatable characteristics at different rates, strain-dependence and long-term recycling of the sensor are demonstrated as well. Finally, the fabricated round bracelet sensor is applied to detect different cross-sections, the movement of human joints, balloon inflation, bottle cap sealing and numerous other aspects.

Soft magnetic skin for super-resolution tactile sensing with force self-decoupling

Human skin can sense subtle changes of both normal and shear forces (i.e., self-decoupled) and perceive stimuli with finer resolution than the average spacing between mechanoreceptors (i.e., super-resolved). By contrast, existing tactile sensors for robotic applications are inferior, lacking accurate force decoupling and proper spatial resolution at the same time. Here, we present a soft tactile sensor with self-decoupling and super-resolution abilities by designing a sinusoidally magnetized flexible film (with the thickness ~0.5 millimeters), whose deformation can be detected by a Hall sensor according to the change of magnetic flux densities under external forces. The sensor can accurately measure the normal force and the shear force (demonstrated in one dimension) with a single unit and achieve a 60-fold super-resolved accuracy enhanced by deep learning. By mounting our sensor at the fingertip of a robotic gripper, we show that robots can accomplish challenging tasks such as stably grasping fragile objects under external disturbance and threading a needle via teleoperation. This research provides new insight into tactile sensor design and could be beneficial to various applications in robotics field, such as adaptive grasping, dexterous manipulation, and human-robot interaction.

Design of Flexible Pressure Sensor Based on Conical Microstructure PDMS-Bilayer Graphene

As a new material, graphene shows excellent properties in mechanics, electricity, optics, and so on, which makes it widely concerned by people. At present, it is difficult for graphene pressure sensor to meet both high sensitivity and large pressure detection range at the same time. Therefore, it is highly desirable to produce flexible pressure sensors with sufficient sensitivity in a wide working range and with simple process. Herein, a relatively high flexible pressure sensor based on piezoresistivity is presented by combining the conical microstructure polydimethylsiloxane (PDMS) with bilayer graphene together. The piezoresistive material (bilayer graphene) attached to the flexible substrate can convert the local deformation caused by the vertical force into the change of resistance. Results show that the pressure sensor based on conical microstructure PDMS-bilayer graphene can operate at a pressure range of 20 kPa while maintaining a sensitivity of 0.122 ± 0.002 kPa⁻¹ (0–5 kPa) and 0.077 ± 0.002 kPa⁻¹ (5–20 kPa), respectively. The response time of the sensor is about 70 ms. In addition to the high sensitivity of the pressure sensor, it also has excellent reproducibility at different pressure and temperature. The pressure sensor based on conical microstructure PDMS-bilayer graphene can sense the motion of joint well when the index finger is bent, which makes it possible to be applied in electronic skin, flexible electronic devices, and other fields.

Near-Linear Responsive and Wide-Range Pressure and Stretch Sensor Based on Hierarchical Graphene-Based Structures via Solvent-Free Preparation

Flexible and wearable electronics have huge potential applications in human motion detection, human-computer interaction, and context identification, which have promoted the rapid development of flexible sensors. So far the sensor manufacturing techniques are complex and require a large number of organic solvents, which are harmful not only to human health but also to the environment. Here, we propose a facile solvent-free preparation toward a flexible pressure and stretch sensor based on a hierarchical layer of graphene nanoplates. The resulting sensor exhibits many merits, including near-linear response, low strain detection limits to 0.1%, large strain gauge factor up to 36.2, and excellent cyclic stability withstanding more than 1000 cycles. Besides, the sensor has an extraordinary pressure range as large as 700 kPa. Compared to most of the reported graphene-based sensors, this work uses a completely environmental-friendly method that does not contain any organic solvents. Moreover, the sensor can practically realize the delicate detection of human body activity, speech recognition, and handwriting recognition, demonstrating a huge potential for wearable sensors.

Kouzani A, Mosadegh B, Gharaie S. Blood Pressure Sensors: Materials, Fabrication Methods, Performance Evaluations and Future Perspectives

Advancements in materials science and fabrication techniques have contributed to the significant growing attention to a wide variety of sensors for digital healthcare. While the progress in this area is tremendously impressive, few wearable sensors with the capability of real-time blood pressure monitoring are approved for clinical use. One of the key obstacles in the further development of wearable sensors for medical applications is the lack of comprehensive technical evaluation of sensor materials against the expected clinical performance. Here, we present an extensive review and critical analysis of various materials applied in the design and fabrication of wearable sensors. In our unique transdisciplinary approach, we studied the fundamentals of blood pressure and examined its measuring modalities while focusing on their clinical use and sensing principles to identify material functionalities. Then, we carefully reviewed various categories of functional materials utilized in sensor building blocks allowing for comparative analysis of the performance of a wide range of materials throughout the sensor operational-life cycle. Not only this provides essential data to enhance the materials' properties and optimize their performance, but also, it highlights new perspectives and provides suggestions to develop the next generation pressure sensors for clinical use.

Laser-Induced Direct Patterning of Free-standing Ti3C2-MXene Films for Skin Conformal Tattoo Sensors

The discovery of stable two-dimensional (2D) materials has effectuated a rapid evolution of skin conformal sensors for health monitoring via epidermal electronics. Among the newly discovered 2D materials, MXene stands out as a solution-processable 2D material allowing easy fabrication of highly conductive thin films with the potential to realize flexible skin conformal sensors. Here, we present a successful demonstration of a Ti₃C₂-MXene resistor as an extremely sensitive strain sensor in the form an ultrathin skin mountable temporary tattoo. The skin conformability and form factor afforded by the sensor promises inconspicuous and continuous monitoring of vital health parameters of an individual, like the pulse rate, respiration rate, and surface electromyography. The sensor serves as a single conduit for sensing the respiration rate and pulse, dispensing with the need of mounting multiple sensors. Its remarkably high sensitivity with a gauge factor of ∼7400 has been ascribed to development of nanocracks and their propagation through the film upon application of strain. The fast response and highly repeatable sensor follows easy fabrication steps and can be patterned into any shape and size using a laser.

A new approach for an ultrasensitive tactile sensor covering an ultrawide pressure range based on the hierarchical pressure-peak effect

Flexible tactile sensors that imitate the skin tactile system have attracted extensive research interest due to their potential applications in medical diagnosis, intelligent robots and so on. However, it is still a great challenge to date to fabricate tactile sensors with both high sensitivity and wide detection range due to the difficulties in modulating the resistance variation in the sensing materials in a wide pressure range. Here, a tactile sensor with a novel design based on the hierarchical pressure-peak effect (HPPE) consisting of PVP nanowires and electroless deposition (ELD) silver PDMS micro-pyramids is reported. The HPPE can effectively modulate the resistance change rate by adjusting the change of contact area during compression deformation, and the HPPE tactile sensor was demonstrated to have both ultrahigh sensitivity (11.60-1108.75 kPa-1) and ultrawide pressure range (0.04-600 kPa). The designed HPPE tactile sensor is successfully utilized in detecting multi-level pressures including respiration, finger heart rate, pulse and foot pressures. Moreover, it is used to sense a subtle clamping force in the Leonardo Da Vinci surgical robot demonstrating the potential of the sensor in surgical robot applications. In all these cases, the sensor exhibits enough capability to respond quickly to ultrawide-range pressures with high accuracy and stability.

Biomimetic Tactile Sensors with Bilayer Fingerprint Ridges Demonstrating Texture Recognition

In this article, we report on a biomimetic tactile sensor that has a surface kinetic interface (SKIN) that imitates human epidermal fingerprint ridges and the epidermis. The SKIN is composed of a bilayer polymer structure with different elastic moduli. We improved the tactile sensitivity of the SKIN by using a hard epidermal fingerprint ridge and a soft epidermal board. We also evaluated the effectiveness of the SKIN layer in shear transfer characteristics while varying the elasticity and geometrical factors of the epidermal fingerprint ridges and the epidermal board. The biomimetic tactile sensor with the SKIN layer showed a detection capability for surface structures under 100 μm with only 20-μm height differences. Our sensor could distinguish various textures that can be easily accessed in everyday life, demonstrating that the sensor may be used for texture recognition in future artificial and robotic fingers.

Graphene Nanostructure-Based Tactile Sensors for Electronic Skin Applications

Skin is the largest organ of the human body and can perceive and respond to complex environmental stimulations. Recently, the development of electronic skin (E-skin) for the mimicry of the human sensory system has drawn great attention due to its potential applications in wearable human health monitoring and care systems, advanced robotics, artificial intelligence, and human-machine interfaces. Tactile sense is one of the most important senses of human skin that has attracted special attention. The ability to obtain unique functions using diverse assembly processible methods has rapidly advanced the use of graphene, the most celebrated two-dimensional material, in electronic tactile sensing devices. With a special emphasis on the works achieved since 2016, this review begins with the assembly and modification of graphene materials and then critically and comprehensively summarizes the most advanced material assembly methods, device construction technologies and signal characterization approaches in pressure and strain detection based on graphene and its derivative materials. This review emphasizes on: (1) the underlying working principles of these types of sensors and the unique roles and advantages of graphene materials; (2) state-of-the-art protocols recently developed for high-performance tactile sensing, including representative examples; and (3) perspectives and current challenges for graphene-based tactile sensors in E-skin applications. A summary of these cutting-edge developments intends to provide readers with a deep understanding of the future design of high-quality tactile sensing devices and paves a path for their future commercial applications in the field of E-skin.

Flexible Tactile Electronic Skin Sensor with 3D Force Detection Based on Porous CNTs/PDMS Nanocomposites

Flexible tactile sensors have broad applications in human physiological monitoring, robotic operation and human-machine interaction. However, the research of wearable and flexible tactile sensors with high sensitivity, wide sensing range and ability to detect three-dimensional (3D) force is still very challenging. Herein, a flexible tactile electronic skin sensor based on carbon nanotubes (CNTs)/polydimethylsiloxane (PDMS) nanocomposites is presented for 3D contact force detection. The 3D forces were acquired from combination of four specially designed cells in a sensing element. Contributed from the double-sided rough porous structure and specific surface morphology of nanocomposites, the piezoresistive sensor possesses high sensitivity of 12.1 kPa-1 within the range of 600 Pa and 0.68 kPa-1 in the regime exceeding 1 kPa for normal pressure, as well as 59.9 N-1 in the scope of < 0.05 N and > 2.3 N-1 in the region of < 0.6 N for tangential force with ultra-low response time of 3.1 ms. In addition, multi-functional detection in human body monitoring was employed with single sensing cell and the sensor array was integrated into a robotic arm for objects grasping control, indicating the capacities in intelligent robot applications.

Evolution of Wearable Devices with Real-Time Disease Monitoring for Personalized Healthcare

Wearable devices are becoming widespread in a wide range of applications, from healthcare to biomedical monitoring systems, which enable continuous measurement of critical biomarkers for medical diagnostics, physiological health monitoring and evaluation. Especially as the elderly population grows globally, various chronic and acute diseases become increasingly important, and the medical industry is changing dramatically due to the need for point-of-care (POC) diagnosis and real-time monitoring of long-term health conditions. Wearable devices have evolved gradually in the form of accessories, integrated clothing, body attachments and body inserts. Over the past few decades, the tremendous development of electronics, biocompatible materials and nanomaterials has resulted in the development of implantable devices that enable the diagnosis and prognosis through small sensors and biomedical devices, and greatly improve the quality and efficacy of medical services. This article summarizes the wearable devices that have been developed to date, and provides a review of their clinical applications. We will also discuss the technical barriers and challenges in the development of wearable devices, and discuss future prospects on wearable biosensors for prevention, personalized medicine and real-time health monitoring.

A Sensitive Piezoresistive Tactile Sensor Combining Two Microstructures

A tactile sensor is an indispensable component for electronic skin, mimicking the sensing function of organism skin. Various sensing materials and microstructures have been adopted in the fabrication of tactile sensors. Herein, we propose a highly sensitive flexible tactile sensor composed of nanocomposites with pyramid and irregularly rough microstructures and implement a comparison of piezoresistive properties of nanocomposites with varying weight proportions of multi-wall nanotubes and carbon black particles. In addition to the simple and low-cost fabrication method, the tactile sensor can reach high sensitivity of 3.2 kPa-1 in the range of <1 kPa and fast dynamic response of 217 ms (loading) and 81 ms (recovery) at 40 kPa pressure. Moreover, body movement monitoring applications have been carried out utilizing the flexible tactile sensor. A sound monitoring application further indicates the potential for applications in electronic skin, human-computer interaction, and physiological detection.

Towards ultra-wide operation range and high sensitivity: Graphene film based pressure sensors for fingertips

Remarkable research efforts have been devoted to replicate the tactile sensitivity of human skin. Unfortunately, so far flexible pressure sensors reported barely fit the tactile requirements for fingertips, which could endure a pressure over 100 kPa and also can sense a gentle touch. It is vital to develop flexible pressure sensors which can ensure high sensitivity and wide operation range simultaneously, to satisfy the demands of mimicking the pressure sensing function of fingertips. In this work, a mini-size, light-weight but high-performance graphene film based pressure sensor is presented. Owing to the advanced structure with fluctuations on surface and fluffy-layered structure in cross-section of the graphene film, this pressure sensor shows an extraordinary performance of high sensitivity of 10.39 kPa^-1 (0-2 kPa), ultra-wide operation range up to 200 kPa, impressively stable repeatability, high working frequency, rapid response and recovery time. Moreover, the demonstrated results of the detection of traditional Chinese medicine wrist-pulse waveform and the bionic fingertip tactile sensors, suggest the great application potential of the obtain device in biomedical field and bionic skins field.

Highly Sensitive Tactile Shear Sensor Using Spatially Digitized Contact Electrodes

In this article, we report on a highly sensitive tactile shear sensor that was able to detect minute levels of shear and surface slip. The sensor consists of a suspended elastomer diaphragm with a top ridge structure, a graphene layer underneath, and a bottom substrate with multiple spatially digitized contact electrodes. When shear is applied to the top ridge structure, it creates torque and deflects the elastomer downwards. Then, the graphene electrode makes contact with the bottom spatially digitized electrodes completing a circuit producing output currents depending on the number of electrodes making contact. The tactile shear sensor was able to detect shear forces as small as 6 μN, detect shear direction, and also distinguish surface friction and roughness differences of shearing objects. We also succeeded in detecting the contact slip motion of a single thread demonstrating possible applications in future robotic fingers and remote surgical tools.

Multilevel Microstructured Flexible Pressure Sensors with Ultrahigh Sensitivity and Ultrawide Pressure Range for Versatile Electronic Skins

Flexible pressure sensors as electronic skins have attracted wide attention to their potential applications for healthcare and intelligent robotics. However, the tradeoff between their sensitivity and pressure range restricts their practical applications in various healthcare fields. Herein, a cost-effective flexible pressure sensor with an ultrahigh sensitivity over an ultrawide pressure-range is developed by combining a sandpaper-molded multilevel microstructured polydimethylsiloxane and a reduced oxide graphene film. The unique multilevel microstructure via a two-step sandpaper-molding method leads to an ultrahigh sensitivity (2.5-1051 kPa^-1 ) and can detect subtle and large pressure over an ultrawide range (0.01-400 kPa), which covers the overall pressure regime in daily life. Sharp increases in the contact area and additional contact sites caused by the multilevel microstructures jointly contribute to such unprecedented performance, which is confirmed by in situ observation of the gap variations and the contact states of the sensor under different pressures. Examples of the flexible pressure sensors are shown in potential applications involving the detection of various human physiological signals, such as breathing rate, vocal-cord vibration, heart rate, wrist pulse, and foot plantar pressure. Another object manipulation application is also demonstrated, where the material shows its great potential as electronic skin intelligent robotics and prosthetic limbs.

Fabrication of Low-Cost and Highly Sensitive Graphene-Based Pressure Sensors by Direct Laser Scribing Polydimethylsiloxane

The cost-effective production of flexible interconnects is a challenge in epidermal electronics. Here we report a low-cost approach for producing and patterning graphene films from polydimethylsiloxane films by direct laser scribing in ambient air. The produced graphene films exhibit high electrical conductivity and excellent mechanical properties and can thus be used directly as a flexible conductive layer without the need for metals. The skinlike pressure sensor with these layers exhibits ultrahigh sensitivity (∼480 kPa^-1) while maintaining the fast response/relaxation time (2 μs/3 μs) and excellent cycle stability (>4000 repetitive cycles). Moreover, it can naturally attach to the skin to monitor the wrist pulse. In addition, a 7 × 7 sensor array has been fabricated, which possesses the capability to detect the spatial distribution of pressure. This device has great potential for application in epidermal electronics because of its low cost and high performance.

High-performance transparent pressure sensors based on sea-urchin shaped metal nanoparticles and polyurethane microdome arrays for real-time monitoring

An ultra-sensitive and transparent piezoresistive pressure sensor based on a sea-urchin shaped metal nanoparticle (SSNP)-polyurethane (PU) composite with microdome arrays is successfully fabricated for the first time. The piezoresistive pressure sensor with microdome arrays was prepared using a nanoimprinting process based on an intermediate polymer substrate (IPS) replica mold. It showed a superior sensitivity (71.37 kPa^-1) and a high optical transmittance (77.7% at 550 nm) due to the effective quantum tunneling effect even at small concentrations of conductive SSNP filler (6 mg mL^-1). The high-performance characteristics of the piezoresistive pressure sensor are attributed to the geometric effects of the microdome structure, especially the stress concentration at small contact spots and the deformation of the contact area. The piezoresistive pressure sensor with microdome arrays also exhibited a fast response/relaxation time (30 ms), ultra-low pressure detection (4 Pa), and excellent long-term stability under harsh conditions. In addition, the effectiveness of the piezoresistive pressure sensors in various sensing applications including sensing mapping, human arterial pulse monitoring, and the detection of muscle movement is also successfully demonstrated. It is anticipated that this novel transparent pressure sensor based on a SSNP-PU composite with microdome arrays will be a key component in the development of integrated transparent sensing applications.