Fig. 5: Demonstrations of the TPPCN tactile sensor in various applications.

a TPPCN membrane is fabricated as fabric piano to export four kinds of signal. b Morse code generation by signal with Arb and square form on the sensor surface. c Schematic diagram of the pressure sensor array (4 × 4 pixels) fabricated by TPPCN membranes and detection of applied pressure of the spatial pressure distribution. d Signals monitoring of whole-body using TPPCN membrane attached to different parts, which are marked by patterns in different colors in the human body model. e Photo of the several TPPCN membrane sensors attached to the figures and joint, photos of holding beakers with different volumes of water and hitting objects by hand, and the corresponding force distribution.