Soft Robotic-Adapted Multimodal Sensors Derived from Entirely Intrinsic Self-Healing and Stretchable Cross-Linked Networks

Flexible sensing technologies that play a pivotal role in endowing robots with detection capabilities and monitoring their motions are impulsively desired for intelligent robotics systems. However, integrating and constructing reliable and sustainable flexible sensors with multifunctionality for robots remains an everlasting challenge. Herein, an entirely intrinsic self-healing, stretchable, and attachable multimodal sensor is developed that can be conformally integrated with soft robots to identify diverse signals. The dynamic bonds cross-linked networks including the insulating polymer and conductive hydrogel with good comprehensive performances are designed to fabricate the sensor with prolonged lifespan and improved reliability. Benefiting from the self-adhesiveness of the hydrogel, strong interfacial bonding can be formed on various surfaces, which promotes the conformable integration of the sensor with robots. Due to the ionic transportation mechanism, the sensor can detect strain and temperature based on piezoresistive and thermoresistive effect, respectively. Moreover, the sensor can work in triboelectric mode to achieve self-powered sensing. Various information can be identified from the electrical signals generated by the sensor, including hand gestures, soft robot crawling motions, a message of code, the temperature of objects, and the type of materials, holding great promise in the fields of environmental detection, wearable devices, human-machine interfacing, and robotics.