Fig. 2: Working mechanism and characterization of the tactile TENG (T-TENG) sensor.
From: Triboelectric nanogenerator sensors for soft robotics aiming at digital twin applications
a Operation mechanism of the T-TENG sensor used for various functions including (i) contact position detection, (ii) sliding detection, and (iii) contact mode recognition. b Schematic diagram of the distribution of the electrodes. The short electrodes are marked as E1 to E4 and the long electrode is marked as EL. c Output signals of E1 to E4 by tapping different positions across the T-TENG sensor patch in point-contact mode. d Voltage ratio analysis of the result in c, where Vi means the voltage of the ith electrode. Sliding test at the speed of e 40 and f 65 mm·s−1. g Output signals of EL when tapped with different contact areas.
