Multi‐Layered,Hierarchical Fabric‐Based Tactile Sensors with High Sensitivity and Linearity in Ultrawide Pressure Range

Resistive tactile sensors based on changes in contact area have been extensively explored for a variety of applications due to their outstanding pressure sensitivity compared to conventional tactile sensors. However, the development of tactile sensors with high sensitivity in a wide pressure range still remains a major challenge due to the trade‐off between sensitivity and linear detection range. Here, a tactile sensor comprising stacked carbon nanotubes and Ni‐fabrics is presented. The hierarchical structure of the fabrics facilitates a significant increase in contact area between them under pressure. Additionally, a multi‐layered structure that can provide more contact area and distribute stress to each layer further improves the sensitivity and linearity. Given these advantages, the sensor presents high sensitivity (26.13 kPa^?1) over a wide pressure range (0.2–982 kPa), which is a significant enhancement compared with the results obtained in previous studies. The sensor also exhibits outstanding performances in terms of response time, repeatability, reproducibility, and flexibility. Furthermore, meaningful applications of the sensor, including wrist‐pulse‐signal analysis, flexible keyboards, and tactile interface, are successfully demonstrated. Based on the facile and scalable fabrication technique, the conceptually simple but powerful approach provides a promising strategy to realize next‐generation electronics.     

Self‐Healable and Recyclable Tactile Force Sensors with Post‐Tunable Sensitivity

It is challenging to post‐tune the sensitivity of a tactile force sensor. Herein, a facile method is reported to tailor the sensing properties of conductive polymer composites by utilizing the liquid‐like property of dynamic polymer matrix at low strain rates. The idea is demonstrated using dynamic polymer composites (CB/dPDMS) made via evaporation‐induced gelation of the suspending toluene solution of carbon black (CB) and acid‐catalyzed dynamic polydimethylsiloxane (dPDMS). The dPDMS matrices allow CB to redistribute to change the sensitivity of materials at the liquid‐like state, but exhibit typical solid‐like behavior and thus can be used as strain sensors at normal strain rates. It is shown that the gauge factor of the polymer composites can be easily post‐tuned from 1.4 to 51.5. In addition, the dynamic polymer matrices also endow the composites with interesting self‐healing ability and recyclability. Therefore, it is envisioned that this method can be useful in the design of various novel tactile sensing materials for many applications.     

A Monocharged Electret Nanogenerator‐Based Self‐Powered Device for Pressure and Tactile Sensor Applications

This study reports a self‐powered pressure sensor based on a monocharged electret nanogenerator (MENG). The sensor exhibits great advantages in terms of high reliability, ease of fabrication, and relatively high sensitivity. The working mechanism of the MENG sensor is studied by both theoretical derivations and finite element analyses to determine the electric potential distribution during the device operation. The MENG sensor exhibits a stable open circuit voltage ≈10 V at a 30.8 kPa pressure and a corresponding sensitivity of 325 mV kPa^?1. The stability testing result shows that the device has only ≈5% attenuation after 10 000 cycles of repeated testing at 30.8 kPa pressure. Furthermore, it is found that the MENG sensor responds not only to a dynamic force but also a static force. Finally, a sensor array consisting of nine MENG sensor elements is fabricated. The testing results from the sensor array also reveal that a single touch of the sensor element can immediately light up an LED light at the corresponding position. This device holds great promise for use in future tactile sensors and artificial skin applications.     

Ionic Tactile Sensors for Emerging Human‐Interactive Technologies: A Review of Recent Progress

Ionic tactile sensors (ITS) represent a new class of deformable sensory platforms that mimic not only the tactile functions and topological structures but also the mechanotransduction mechanism across the biological ion channels in human skin, which can demonstrate a more advanced biological interface for targeting emerging human‐interactive technologies compared to conventional e‐skin devices. Recently, flexible and even stretchable ITS have been developed using novel structural designs and strategies in materials and devices. These skin‐like tactile sensors can effectively sense pressure, strain, shear, torsion, and other external stimuli with high sensitivity, high reliability, and rapid response beyond those of human perception. In this review, the recent developments of the ITS based on the novel concepts, structural designs, and strategies in materials innovation are entirely highlighted. In particular, biomimetic approaches have led to the development of the ITS that extend beyond the tactile sensory capabilities of human skin such as sensitivity, pressure detection range, and multimodality. Furthermore, the recent progress in self‐powered and self‐healable ITS, which should be strongly required to allow human‐interactive artificial sensory platforms is reviewed. The applications of ITS in human‐interactive technologies including artificial skin, wearable medical devices, and user‐interactive interfaces are highlighted. Last, perspectives on the current challenges and the future directions of this field are presented.     

Bubble‐Decorated Honeycomb‐Like Graphene Film as Ultrahigh Sensitivity Pressure Sensors

Recently, macroporous graphene monoliths (MGMs), with ultralow density and good electrical conductivity, have been considered as excellent pressure sensors due to their excellent elasticity with a rapid rate of recovery. However, MGMs can only exhibit good sensitivity when the strain is higher than 20%, which is undesirable for touch‐type pressure sensors, such as artificial skin. Here, an innovative method for the fabrication of freestanding flexible graphene film with bubbles decorated on honeycomb‐like network is demonstrated. Due to the switching effect depended on “point‐to‐point” and “point‐to‐face” contact modes, the graphene pressure sensor has an ultrahigh sensitivity of 161.6 kPa^?1 at a strain less than 4%, several hundred times higher than most previously reported pressure sensors. Moreover, the graphene pressure sensor can monitor human motions such as finger bending and pulse with a very low operating voltage of 10 mV, which is sufficiently low to allow for powering by energy‐harvesting devices, such as triboelectric generators. Therefore, the high sensitivity, low operating voltage, long cycling life, and large‐scale fabrication of the pressure sensors make it a promising candidate for manufacturing low‐cost artificial skin.     

Micropatterned P(VDF‐TrFE) Film‐Based Piezoelectric Nanogenerators for Highly Sensitive Self‐Powered Pressure Sensors

Here micropatterned poly(vinylidenefluoride‐co‐trifluoroethylene) (P(VDF‐TrFE)) films‐based piezoelectric nanogenerators (PNGs) with high power‐generating performance for highly sensitive self‐powered pressure sensors are demonstrated. The microstructured P(VDF‐TrFE)‐based PNGs reveal nearly five times larger power output compared to a flat film‐based PNG. The micropatterning of P(VDF‐TrFE) polymer makes itself ultrasensitive in response to mechanical deformation. The application is demonstrated successfully as self‐powered pressure sensors in which mechanical energy comes from water droplet and wind. The mechanism of the high performance is intensively discussed and illustrated in terms of strain developed in the flat and micropatterned P(VDF‐TrFE) films. The impact derived from the patterning on the output performance is studied in term of effective pressure using COMSOL multiphysics software.     

Fully Elastic and Metal‐Free Tactile Sensors for Detecting both Normal and Tangential Forces Based on Triboelectric Nanogenerators

A tactile sensor should be able to detect both normal and tangential forces, which is mandatory for simulating human hands, but this fundamental function has been overlooked by most of the previous studies. Here, based on a triboelectric nanogenerator (TENG) with single‐electrode mode, the fully elastic and metal‐free tactile sensor that can detect both normal and tangential forces is proposed. With tiny burr arrays on the contact interface to facilitate the elastic deformation, the detected normal pressure by the device can reach to 1.5 MPa with a sensitivity of about 51.43 kPa V⁻¹, and a large range of tangential forces can be detected ranging from 0.5 to 40 N with rough sensitivity of 0.83 N V⁻¹ (0.5–3 N) and 2.50 N V⁻¹ (3–40 N). Meanwhile, the applied tangential forces from different directions can also be clearly distinguished by the four‐partitioned electrode structure. Moreover, a shield film is coated on the top surface of the device, which can screen the electrostatic interference and enhance the repeatability of the device. The demonstrated concept of this self‐powered tactile sensor has excellent applicability for industrial robotics, human–machine interactions, artificial intelligence, etc.     

Stereo‐Vision‐Based Human‐Computer Interaction with Tactile Stimulation

If a virtual object in a virtual environment represented by a stereo vision system could be touched by a user with some tactile feeling on his/her fingertip, the sense of reality would be heightened. To create a visual impression as if the user were directly pointing to a desired point on a virtual object with his/her own finger, we need to align virtual space coordinates and physical space coordinates. Also, if there is no tactile feeling when the user touches a virtual object, the virtual object would seem to be a ghost. Therefore, a haptic interface device is required to give some tactile sensation to the user. We have constructed such a human‐computer interaction system in the form of a simple virtual reality game using a stereo vision system, a vibro‐tactile device module, and two position/orientation sensors.     

Screen‐Printed Soft Capacitive Sensors for Spatial Mapping of Both Positive and Negative Pressures

Soft pressure sensors are one class of the essential devices for robotics and wearable device applications. Despite the tremendous progress, sensors that can reliably detect both positive and negative pressures have not yet been demonstrated. In this paper, a soft capacitive pressure sensor, made using a convenient and low‐cost screen‐printing process that can reliably detect both positive and negative pressures from ?60 to 20 kPa, is reported. The sensor is made with an Ecoflex‐0030 dielectric layer, conductive and stretchable poly(3,4‐ethylenedioxythiophene):poly(styrenesulfonate) (with ionic additives) electrodes, and polydimethylsiloxane encapsulation layers. Air gaps are designed and incorporated into the dielectric layer to significantly enhance the sample deformation and pressure response especially to negative pressure. The sensor exhibits repeatable response for thousands of cycles, even under bending or stretching conditions. Lastly, to demonstrate the practical application, a 12 × 12‐pixel sensor array that can automatically measure both positive and negative pressure distributions has been reported under ?20 and 10 kPa.     

Textile‐Based Flexible Tactile Force Sensor Sheet

The next generation of electronics will include human‐interactive flexible sensor sheets to monitor health. One approach is to realize practical macroscale low‐cost sensor arrays to monitor pressure distribution and health conditions without directly attaching a device onto the body. However, practical requirements such as reliability, scalability, and washability are not often discussed as most studies focus on the sensing sensitivity and validations. This study demonstrates an all textile‐based tactile force sensor sheet that covers the above requirements. By considering the device design and materials, high reliability/repeatability (≈250 000 cycles at ≈5 kPa) and washability are realized. These are important factors for practical applications for human‐interactive macroscale sensor sheets. In addition to the fundamental characteristics, pressure distribution mapping and respiration rate monitoring are confirmed by placing the sensor sheets on a bed, chair, and floor.     

Membrane‐Based Self‐Powered Triboelectric Sensors for Pressure Change Detection and Its Uses in Security Surveillance and Healthcare Monitoring

A new membrane‐based triboelectric sensor (M‐TES) is presented as a self‐powered pressure change sensor. It generates a voltage induced by surface triboelectric charges in response to an air pressure change. Extremely high detection resolutions of 0.34 Pa and 0.16 Pa are achieved when the air pressure increases and decreases in a small region away from the ambient standard atmosphere pressure, respectively, indicating an excellent sensitivity. By integrating the M‐TES with a signal processing unit, we demonstrate practical applications of the device in sensing footsteps, respirations, and heartbeat, which suggests widespread use of the M‐TES in fields of security surveillance, chemical engineering, geography research, environment monitoring, and personal healthcare.     

Stretchable Energy‐Harvesting Tactile Interactive Interface with Liquid‐Metal‐Nanoparticle‐Based Electrodes

Energy‐harvesting electronic skin (E‐skin) is highly promising for sustainable and self‐powered interactive systems, wearable human health monitors, and intelligent robotics. Flexible/stretchable electrodes and robust energy‐harvesting components are critical in constructing soft, wearable, and energy‐autonomous E‐skin systems. A stretchable energy‐harvesting tactile interactive interface is demonstrated using liquid metal nanoparticles (LM‐NPs)‐based electrodes. This stretchable energy‐harvesting tactile interface relies on triboelectric nanogenerator composed of a galinstan LM‐NP‐based stretchable electrode and patterned elastic polymer friction and encapsulation layer. It provides stable and high open‐circuit voltage (268 V), short‐circuit current (12.06 µA), and transferred charges (103.59 nC), which are sufficient to drive commercial portable electronics. As a self‐powered tactile sensor, it presents satisfactory and repeatable sensitivity of 2.52 V·kPa^?1 and is capable of working as a touch interactive keyboard. The demonstrated stretchable and robust energy‐harvesting E‐skin using LM‐NP‐based electrodes is of great significance in sustainable human–machine interactive system, intelligent robotic skin, security tactile switches, etc.     

一种改进小波图像消噪方法的研究及动态触觉传感图像消噪

基于二维平稳离散小波变换(SDWT)研究了一种改进阈值消噪方法：给出了一种新的跨尺度阈值计算方法；使用将软、硬阈值估计的细节系数进行加权平均的细节系数估计方法；通过补充大尺度细节系数降低消噪误差的方法。与经典的软、硬阈值方法比较，大量的仿真试验说明本文的方法在信号畸变、误差、光滑度等性能指标之间取得了合适的折衷，即具有较好地抑制噪声能力，又可以较好的保持图像边缘特征和精细特征。将此方法应用于动态触觉传感器触觉图像的消噪，取得了显著的性能改进。