Fig. 3: Mechanical and electrical properties of the SL-TS.

A Working mechanism of the SL-TS under compression and release (i: initial state-surface charges after contact electrification, i → ii: pressing down and forward current, iii: max compression, and iii → iv: releasing and reverse current). B Voltage–pressure curves of the sensors with different contact angles of solid–liquid interface (Enlarged view for 0–500 Pa). C Repeatable response of SL-TS (contact angle of 152°) to dynamic pressures. D Voltage–pressure curves of the sensors with different concentrations of PEG droplets. E Relationship between the contact area and compressive force under different surface tensions (60 mN/m and 70 mN/m) by COMSOL simulation. The inset shows the COMSOL simulation under different surface tensions with the same compressive force (the color scale is the same as Fig. 2E). F Compressive force response to different concentrations of PEG droplets (inset: d represents the displacement on the x-axis). Source data are provided as a Source Data file.