Fig. 1: The design principle and continuous manufacture of NB-fiber.

a Left: Illustration depicting the combination of mechanical structure and sensory transduction in biological skin, labeling the amplification and conversion process of the Meissner corpuscle’s (sensitive touch) cleft space and lamellar cells to external mechanical stimuli. Right: Schematic diagram illustrating the structure of an e-fibers system for an artificial micro-flexure sensor. The buckling structure and gap magnify external micro-stimuli (pressure and deformation) and enhance feedback accuracy through force-electric conversion. b Tribo-gap comparing of state-of-the-art fiber structure designs, including axial coating, spiral winding, core-spun, Fermat spiral, built-in spiral, and NB-structure, under various angular deformations. c Schematic illustration of NB-fiber continuous and scalable manufacture based on conjugate electrospinning. Tensioners regulate the preprogrammed shape memory hollow fibers to achieve desired shapes. The ionogel serves as electrodes with tunable mechanical properties. The change of heating ring employed to induce the formation of the NB-structure from blue to red represents the shift from low-temperature zone to the high-temperature zone. (i) Geometric model of NB-fiber during different preparation steps; (ii) Molecular chain transformation; (iii) Collection of NB-fiber on the reeling roller (scale bar: 2 cm). d Ultra-deep 3D microscopy image of NB-fiber with roughness statistics, and e wrinkled structure dynamic stability flexure from pristine state to 521 μm⁻¹. (Scale bar: 1 mm).