Fig. 4: Sensing properties of the GBM-IR PDMS-based triboelectric sensor.

a The voltage outputs of GBM-IR PDMS-based triboelectric sensor with different content of DI under the pressure of 300 kPa. b Voltage varies with pressure of the optimized GBM-IR PDMS-based triboelectric sensor. The inset is the datapoints at the range of 0–10 kPa. The error bar is obtained by repeating the test for 5 times. c Voltage varies with pressure of the GBM PDMS-based sensor. The inset is the datapoints at the range of 0–2100 kPa. The error bar is obtained by repeating the test for 5 times. d Comparison in the sensory sensitivity and linear range of triboelectric sensor with anti-electromagnetic interference ability. e Comparison in the sensory sensitivity and linear range of active sensor (triboelectric and piezoelectric sensors). The inset is zoom-in y-axis at the range of 0.015–0.025 V kPa⁻¹. f Force varies under the displacement (compression) of GBM-IR PDMS-based triboelectric sensor. The insets are photos of sensor in light compression and heavy compression. g Cyclic compression of GBM-IR PDMS-based triboelectric sensor under square waves, each endures less for 800 ms, over 1000 cycles at 1.4 MPa. The inset is the photos of sensor on the signals at the initial and final cycles. h Enlarged view of the single response signal in the cyclic test. Source data are provided as a Source Data file.