Fig. 2: Performance optimization and electrical output characterization of HFSS.

a Output performance (VOC) of HFSS with CCTO and PDMS at different doping ratios (box plots: centre line=median; box limits = 25th and 75th percentiles; whiskers = 1.5×IQR; points beyond whiskers are outliers; n = 30 technical replicates). b Output performance (VOC, ISC, and QSC) of HFSS at different device sizes (mean ± SD from technical replicates (n = 6) are shown). c Impact of material and surface morphology of the friction layer on the output performance of HFSS. d Impact of varying frequencies of applied force on HFSS output performance (VOC) (mean ± SD from technical replicates (n = 6) are shown). e Output time response of HFSS. f Relationship between HFSS output (VOC) and the magnitude of applied force. g, h Stability and fatigue test of HFSS (fatigue test: motor frequency,1.5 Hz).