Fig. 5: Stretchable sensor networks for stretchable robotics.

Photographs (upper) and 2D voltage mapping (bottom) of the unstretched and stretched smart glove sensor networks (a) without and (b) with a top shielding layer in response to human finger touch. c Schematic diagram of the position of selected four sensor nodes on a stretchable insole. d Schematic of a cylinder rolling along different pixels. Optical images (upper) and voltage mapping (bottom) of the selected four sensor nodes (e) without and (f) with a top shielding layer in the moving trajectory of the cylinder. g Real-time measurement of the selected four sensor nodes under working motion, the inset parts display the different gait phases.