Fig. 1: Skin-mimicked ionotronic sensors with multi-mode sensing capabilities by DLP-based multi-material 3D printing.

a Schematic of the human skin containing various mechanoreceptors. The SAI responds to touch and static pressure, the SAII responds to stretching, the RAI responds to touch and dynamic pressure, and the RAII responds to deep pressure and vibration. b Human skin is capable of multi-mode sensing, such as compression, tension, combined compression and shear, and combined torsion and compression, without signal interferences. c 3D printing of various architected ionotronic sensors for multi-mode sensing using polyelectrolyte elastomers with robust interfaces and without leakage.