Fig. 3: Working mechanism of the length TENG (L-TENG) sensor and the real-time verification in HMIs.
From: Triboelectric nanogenerator sensors for soft robotics aiming at digital twin applications
a Working mechanism of L-TENG sensor. b Stretching output of the L-TENG sensor at various speeds. c The photograph of the HMIs with L-TENG sensor and tactile TENG (T-TENG) sensor integrated on a nitrile glove. d The real-time signals when the robotic hand is controlled to bend to 30° and return to its original position. e The real-time signals of controlling the robotic finger to bend to different angles in one-step mode and step-by-step mode. f The photographs of the actual hand gestures and their corresponding robotic hand motions. (i) The nitrile glove with sensors. (ii–v) The robotic hand deforms to 30° and returns to 0°. (vi, vii) The robotic hand with 60°, 90° bending.
