Fig. 4: The integration and application of the MGITG.

a Schematic diagram of π-type series connection for pure p-type MGITG and the corresponding device picture. b Schematic diagram of 3D integration of the MGITG. c Application examples on wearable devices include respiration monitoring and action recognition. d The MGITG fixed on the robotic arm enables it to sense the temperature and humidity of the environment. By comparing the voltage response curves of two MGITGs (one is completely encapsulated and not hygroscopic), the specific values of temperature and humidity can be quickly determined. e The application in robotic tactile sensing involves detecting the temperature and humidity state of grasped objects. Towels under different temperature and humidity were used for grasping tests.