Biomimetic Electronic Skin for Robots Aiming at Superior Dynamic-Static Perception and Material Cognition Based on Triboelectric-Piezoresistive Effects.

Empowering robots with tactile perception and even thinking as well as judgment capabilities similar to those of humans is an inevitable path for the development of future robots. Here, we propose a biomimetic electronic skin (BES) that truly serves and applies to robots to achieve superior dynamic-static perception and material cognition functionalities. First, the microstructured triboelectric and piezoresistive layers are fabricated by a facile template method followed by selected self-polymerization treatment, enabling BES with high sensitivity and a wide detection range. Further, through laminated-independent triboelectric and piezoresistive parts for perceiving dynamic and static pressures simultaneously, the BES is capable of supporting the robot hand to monitor the entire process during object grasping. Most importantly, by further combining a neural network model, an intelligent cognition system is constructed for real-time cognition of the object material species via one touch of the robot hand under arbitrary pressures, which goes beyond the human cognition ability.

Skin-Inspired Textile Electronics Enable Ultrasensitive Pressure Sensing.

Wearable pressure sensors have attracted great interest due to their potential applications in healthcare monitoring and human-machine interaction. However, it is still a critical challenge to simultaneously achieve high sensitivity, low detection limit, fast response, and outstanding breathability for wearable electronics due to the difficulty in constructing microstructure on a porous substrate. Inspired by the spinosum microstructure of human skin for highly-sensitive tactile perception, a biomimetic flexible pressure sensor is designed and fabricated by assembling MXene-based sensing electrode and MXene-based interdigitated electrode. The product biomimetic sensor exhibits good flexibility and suitable air permeability (165.6 mm s-1), comparable to the typical air permeable garments. Benefiting from the two-stage amplification effect of the bionic intermittent structure, the product bionic sensor exhibits an ultrahigh sensitivity (1368.9 kPa-1), ultrafast response (20 ms), low detection limit (1 Pa), and high-linearity response (R2 = 0.997) across the entire sensing range. Moreover, the pressure sensor can detect a wide range of human motion in real-time through intimate skin contact, providing essential data for biomedical monitoring and personal medical diagnosis. This principle lays a foundation for the development of human skin-like high-sensitivity, fast-response tactile sensors.

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.

Machine Learning-Enhanced Biomass Pressure Sensor with Embedded Wrinkle Structures Created by Surface Buckling.

Flexible piezoresistive sensors are core components of many wearable devices to detect deformation and motion. However, it is still a challenge to conveniently prepare high-precision sensors using natural materials and identify similar short vibration signals. In this study, inspired by microstructures of human skins, biomass flexible piezoresistive sensors were prepared by assembling two wrinkled surfaces of konjac glucomannan and k-carrageenan composite hydrogel. The wrinkle structures were conveniently created by hardness gradient-induced surface buckling and coated with MXene sheets to capture weak pressure signals. The sensor was applied to detect various slight body movements, and a machine learning method was used to enhance the identification of similar and short throat vibration signals. The results showed that the sensor exhibited a high sensitivity of 5.1 kPa-1 under low pressure (50 Pa), a fast response time (104 ms), and high stability over 100 cycles. The XGBoost machine learning model accurately distinguished short voice vibrations similar to those of individual English letters. Moreover, experiments and numerical simulations were carried out to reveal the mechanism of the wrinkle structure preparation and the excellent sensing performance. This biomass sensor preparation and the machine learning method will promote the optimization and application of wearable devices.

One-Pot Preparation of Skin-Inspired Multifunctional Hybrid Hydrogel with Robust Wound Healing Capacity.

Bioinspired hydrogels have demonstrated multiple superiorities over traditional wound dressings for wound healing applications. However, the fabrication of bioinspired hydrogel-based wound dressings with desired functionalities always requires multiple successive steps, time-consuming processes, and/or sophisticated protocols, plaguing their clinical applications. Here, a facile one-pot strategy is developed to prepare a skin-inspired multifunctional hydrogel within 30 min by incorporating elastin (an essential functional component of the dermal extracellular matrix), tannic acid, and chitosan into the covalently cross-linked poly(acrylamide) network through noncovalent interactions. The resulting hydrogel exhibits a Young's modulus (ca. 36 kPa) comparable to that of human skin, a high elongation-at-break (ca. 1550%), a satisfactory tensile strength (ca. 61 kPa), and excellent elastic self-restorability, enabling the hydrogel to synchronously and conformally deform with human skin when used as wound dressings. Importantly, the hydrogel displays a self-adhesive property to skin tissues with an appropriate bonding strength (ca. 55 kPa measured on intact porcine skin), endowing the hydrogel with the ability to rapidly self-adhere to intact human skin, sealing the wound surface and also easily being removed without residue left or trauma caused to the skin. The hydrogel also possesses remarkable antibacterial activity, antioxidant capability, and hemocompatibility. All of these collective beneficial properties enable the hydrogel to significantly accelerate the wound healing process, outperforming the commercial wound dressings.

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.

Biomolecular 1D Necklace-like Nanostructures Tailoring 2D Janus Interfaces for Controllable 3D Enteric Biomaterials.

Construction of well-ordered two-dimensional (2D) and three-dimensional (3D) assemblies using one-dimensional (1D) units is a hallmark of many biointerfaces such as skin. Mimicking the art of difunctional properties of biointerfaces, which skin exhibits as defense and shelter materials, has inspired the development of smart and responsive biomimetic interfaces. However, programming the long-range ordering of 1D base materials toward vigorous control over 2D and 3D hierarchical structures and material properties remains a daunting challenge. In this study, we put forward construction of 3D enteric biomaterials with a two-strata 2D Janus interface assembled from self-adaptation of 1D protein-polysaccharide nanostructures at an oil-water interface. The biomaterials feature a protein dermis accommodating oil droplets as a reservoir for bioactive compounds and a polysaccharide epidermis protecting them from gastric degradation. Furthermore, the epidermis can be fine-tuned with different thicknesses rendering enteric delivery of a bioactive cargo (coumarin-6) with controllable retention in the intestinal tract from 6 to 24 h. The results highlight a skin-inspired construction of enteric biomaterials by self-adaptation of 1D nanostructures at the oil-water interface toward 2D Janus biointerfaces and 3D microdevices, which can be tailored for intestinal treatments with intentional therapeutic efficacies.

A Skin-Inspired Design Integrating Mechano-Chemical-Thermal Robustness into Superhydrophobic Coatings.

Designing scalable coatings with a wide spectrum of functions such as liquid repellency, anticorrosion, and antiflaming and a high level of mechano-chemical-thermal robustness is crucial in real-life applications. However, these individual functionalities and robustness are coupled together or even have conflicting requirements on the interfacial or bulky properties of materials, and thus, simultaneously integrating all these individual features into one coating has proved challenging. Herein, an integral skin-inspired triple-layered coating (STC) that resolves conflicting demands imposed by individual features on the structural, chemical, mechanical, and thermal properties of materials is proposed. Specifically, the rational design of multiple gradients in roughness, wetting, strength, and flame retardancy and the formation of continuous interfaces along its triple layers endow a sustained liquid repellency, anticorrosion, and flame retardancy even under harsh environments, as well as strong antiabrasion on surfaces and adhesion with the substrate. Such an all-in-one design enhances the durability and lifetime of coatings and reduces the maintenance and repair, thereby contributing to cost and energy saving. Together with a facile spraying fabrication process, this STC provides a feasible and sustainable strategy for constructing energy and resource-saving materials.

Skin-Inspired Thermometer Enabling Contact-Independent Temperature Sensation via a Seebeck-Resistive Bimodal System.

Tactile sensation is a powerful method for probing the temperature of an arbitrary object due to its intuitive operating mechanism. However, the disruptive interface commonly formed between the thermometer and the object gives rise to thermal contact resistance, which is the primary source of measurement inaccuracy. Here, we develop a bioinspired bimodal temperature sensor exhibiting robust measurement accuracy by precisely decoupling contact resistance from the associated thermal circuit. In our sensors, a micropatterned resistive thermometer is placed underneath a thermoelectric heat fluxmeter, which resembles thermoreceptors located in human biomembranes. The object temperature is probed by modulating the thermometer temperature within the sensor system and precisely extrapolating the zero-heat flux point of the Seebeck voltage developed across the fluxmeter. At this zero-heat flux point, the object and thermometer temperatures coincide with each other regardless of the contact resistance formed at the fluxmeter-object interface. An experimental study shows that our sensors display excellent measurement accuracy within ∼0.5 K over a wide range of contact resistance values. Our work opens up new avenues for highly sensitive tactile thermal sensation in thermal haptics, medical devices, and robotics if combined with flexible devices.

PEDOT Composite with Ionic Liquid and Its Application to Deformable Electrochemical Transistors.

Organic electrochemical transistors (OECTs) have become popular due to their advantages of a lower operating voltage and higher transconductance compared with conventional silicon transistors. However, current OECT platform-based skin-inspired electronics applications are limited due to the lack of stretchability in poly(3,4-ethylenedioxythiophene):polystyrene sulfonate (PEDOT:PSS). Some meaningful structural design strategies to resolve this limitation, including rendering OECT to make it more stretchable, have been reported. However, these strategies require complicated fabrication processes and face challenges due to the low areal density of active devices because wavy interconnect parts account for a large area. Nevertheless, there have been only a few reports of fully deformable OECT having skin-like mechanical properties and deformability. In this study, we fabricated stretchable and conductivity-enhanced channel materials using a spray-coating method after a composite solution preparation by blending PEDOT:PSS with several ionic liquids. Among these, the PEDOT composite prepared using 1-butyl-3-methylimidazolium octyl sulfate exhibited a better maximum transconductance value (~0.3 mS) than the other ion composites. When this material was used for our deformable OECT platform using stretchable Au nanomembrane electrodes on an elastomer substrate and an encapsulation layer, our d-ECT showed a barely degraded resistance value between the source and drain during 1000 cycles of a 30% repeated strain. We expect that our d-ECT device will serve as a step toward the development of more precise and accurate biomedical healthcare monitoring systems.

Ultrasensitive Multimodal Tactile Sensors with Skin-Inspired Microstructures through Localized Ferroelectric Polarization.

Multifunctional electronic skins have attracted considerable attention for soft electronics including humanoid robots, wearable devices, and health monitoring systems. Simultaneous detection of multiple stimuli in a single self-powered device is desired to simplify artificial somatosensory systems. Here, inspired by the structure and function of human skin, an ultrasensitive self-powered multimodal sensor is demonstrated based on an interlocked ferroelectric copolymer microstructure. The triboelectric and pyroelectric effects of ferroelectric microstructures enable the simultaneous detection of mechanical and thermal stimuli in a spacer-free single device, overcoming the drawbacks of conventional devices, including complex fabrication, structural complexity, and high-power consumption. Furthermore, the interlocked microstructure induces electric field localization during ferroelectric polarization, leading to enhanced output performance. The multimodal tactile sensor provides ultrasensitive pressure and temperature detection capability (2.2 V kPa-1 , 0.27 nA °C-1 ) over a broad range (0.1-98 kPa, -20 °C < ΔT < 30 °C). Furthermore, multiple simultaneous stimuli can be distinguished based on different response times of triboelectric and pyroelectric effects. The remarkable performance of this sensor enables real-time monitoring of pulse pressure, acoustic wave detection, surface texture analysis, and profiling of multiple stimuli.

Skin-inspired thermoelectric nanocoating for temperature sensing and fire safety.

Temperature sensing enables flammable materials to respond intelligently at high temperature, which is conducive to further improving their fire safety. However, it is still challenging to develop a smart nanocoating with sensitive temperature-sensing and efficient flame retardancy. Inspired by human skin, a thermoelectric flame retardant (TE-FR) nanocoating was fabricated by combining a dermis-mimicking thermoelectric (TE) layer and an epidermis-mimicking flame retardant (FR) layer. The TE-FR nanocoating exhibited accurate temperature sensing at 100-300 ℃ and repeatable fire-warning capability. When being burned, the fire-warning response time of the TE-FR nanocoating was only 2.0 s, and it retriggered the fire-warning device within 2.8 s when it was reburned. Meanwhile, the TE-FR nanocoating exhibited outstanding flame retardancy. The coated polypropylene self-extinguished in the horizontal and vertical burning tests. Besides, its peak heat release rate, total heat release, and peak smoke production rate were significantly reduced. This work proposed an ingenious strategy to fabricate smart nanocoating for temperature sensing and fire safety, which revealed an enticing prospect in the fields of fire protection, electronic skin, and temperature monitor.

Skin-Inspired Hair-Epidermis-Dermis Hierarchical Structures for Electronic Skin Sensors with High Sensitivity over a Wide Linear Range.

The quest for both high sensitivity and a wide linear range in electronic skin design is perpetual; unfortunately, these two key parameters are generally mutually exclusive. Although limited success in attaining both high sensitivity and a wide linear range has been achieved via material-specific or complicated structure design, addressing the conflict between these parameters remains a critical challenge. Here, inspired by the human somatosensory system, we propose hair-epidermis-dermis hierarchical structures based on a reduced graphene oxide/poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) aerogel to reconcile this contradiction between high sensitivity and a wide linear range. This hierarchical structure enables an electronic skin (e-skin) sensor linear sensing range up to 30 kPa without sacrificing the high sensitivity (137.7 kPa-1), revealing an effective strategy to overcome the above-mentioned conflict. In addition, the e-skin sensor also exhibits a low detection limit (1.1 Pa), fast responsiveness (∼80 ms), and excellent stability and reproducibility (over 10 000 cycles); as a result, the e-skin platform is capable of detecting small air flow and monitoring human pulse and even sound-induced vibrations. This structure may boost the ongoing research on the structural design and performance regulation of emerging flexible electronics.

Lizard-Skin-Inspired Nanofibrous Capillary Network Combined with a Slippery Surface for Efficient Fog Collection.

Freshwater shortage is a critical global issue that needs to be resolved urgently. Efficient water collection from fog provides a promising and sustainable solution to produce clean drinking water, especially in the desert and arid regions. Nature has long served as our best source of inspiration for designing new structures and developing new materials. Herein, we report a strategy to design a novel Janus fog collector with a hydrophilic lizard-skin-like nanofibrous network upper surface and hydrophobic slippery lower surface using a simple and feasible method of coating and electrospinning. We analyze the forming law of the lizard-skin-like nanofibrous network structure on different substrates using electric field simulation. The resulting copper mesh-based Janus fog collector exhibits superior water-collecting efficiency (907 mg cm-2 h-1) and long-term durability, achieving directional transport of tiny droplets and high-efficiency water collection. However, there are few reports on the combination of the lizard-skin-like nanofibrous capillary network and slippery surface for efficient fog collection. Therefore, we believe that this work will open a new avenue to collect water efficiently and also provide clues to research on the lizard-skin-like nanofibrous network structure.

Skin-Inspired Gels with Toughness, Antifreezing, Conductivity, and Remoldability.

In recent years, nature-inspired conductive hydrogels have become ideal materials for the design of bioactuators, healthcare monitoring sensors, and flexible wearable devices. However, conductive hydrogels are often hindered by problems such as the poor mechanical property, nonreusability, and narrow operating temperature range. Here, a novel skin-inspired gel is prepared via one step of blending polyvinyl alcohol, gelatin, and glycerin. Due to their dermis-mimicking structure, the obtained gels possess high mechanical properties (fracture stress of 1044 kPa, fracture strain of 715%, Young's modulus of 157 kPa, and toughness of 3605 kJ m-3). Especially, the gels exhibit outstanding strain-sensitive electric behavior as biosensors to monitor routine movement signals of the human body. Moreover, the gels with low temperature tolerance can maintain good conductivity and flexibility at -20 °C. Interestingly, the gels are capable of being recovered and reused by heating injection, cooling molding, and freezing-thawing cycles. Thus, as bionic materials, the gels have fascinating potential applications in various fields, such as human-machine interfaces, biosensors, and wearable devices.

Skin-Inspired Humidity and Pressure Sensor with a Wrinkle-on-Sponge Structure.

Sensors with multifunctions have attracted great attention for their extensive application value, among which humidity sensing and pressure sensing are necessary to electronics undoubtedly because of the complex physical environment we live in. Inspired by the structure of skin, in this article, we design a new method to combine wrinkle structure with porous sponge structure and achieve a novel, flexible, compressible, and bifunctional sensor based on carbon nanotube-polydimethylsiloxane (CNT-PDMS) with functions of humidity sensing and pressure sensing. The performance of the humidity sensing part can be controlled by the ultraviolet and ozone (UVO) treatment time and CNT concentration, while the sensitivity of the pressure sensing part can be controlled by the CNT concentration and grinding time of sugar granules. The bifunctional sensor can easily sense approaching and touching of a hand, which shows great potential of alarming and protecting some electronics. Moreover, the bifunctional sensor can also be used in detecting human joint motions and breath conditions as a wearable and flexible health monitor.

Skin-Inspired Hierarchical Polymer Architectures with Gradient Stiffness for Spacer-Free, Ultrathin, and Highly Sensitive Triboelectric Sensors.

The gradient stiffness between stiff epidermis and soft dermis with interlocked microridge structures in human skin induces effective stress transmission to underlying mechanoreceptors for enhanced tactile sensing. Inspired by skin structure and function, we fabricate hierarchical nanoporous and interlocked microridge structured polymers with gradient stiffness for spacer-free, ultrathin, and highly sensitive triboelectric sensors (TESs). The skin-inspired hierarchical polymers with gradient elastic modulus enhance the compressibility and contact areal differences due to effective transmission of the external stress from stiff to soft layers, resulting in highly sensitive TESs capable of detecting human vital signs and voice. In addition, the microridges in the interlocked polymers provide an effective variation of gap distance between interlocked layers without using the bulk spacer and thus facilitate the ultrathin and flexible design of TESs that could be worn on the body and detect a variety of pressing, bending, and twisting motions even in humid and underwater environments. Our TESs exhibit the highest power density (46.7 µW/cm2), pressure (0.55 V/kPa), and bending (∼0.1 V/°) sensitivities ever reported on flexible TESs. The proposed design of hierarchical polymer architectures for the flexible and wearable TESs can find numerous applications in next-generation wearable electronics.

Tactile-direction-sensitive and stretchable electronic skins based on human-skin-inspired interlocked microstructures.

Stretchable electronic skins with multidirectional force-sensing capabilities are of great importance in robotics, prosthetics, and rehabilitation devices. Inspired by the interlocked microstructures found in epidermal-dermal ridges in human skin, piezoresistive interlocked microdome arrays are employed for stress-direction-sensitive, stretchable electronic skins. Here we show that these arrays possess highly sensitive detection capability of various mechanical stimuli including normal, shear, stretching, bending, and twisting forces. Furthermore, the unique geometry of interlocked microdome arrays enables the differentiation of various mechanical stimuli because the arrays exhibit different levels of deformation depending on the direction of applied forces, thus providing different sensory output patterns. In addition, we show that the electronic skins attached on human skin in the arm and wrist areas are able to distinguish various mechanical stimuli applied in different directions and can selectively monitor different intensities and directions of air flows and vibrations.