Fig. 2: The sensing performance of the multisensory tactile sensors. | npj Flexible Electronics

Fig. 2: The sensing performance of the multisensory tactile sensors.

From: Nondestructive identification of softness via bioinspired multisensory electronic skins integrated on a robotic hand

Fig. 2

a Optical images of 3D printed biomimetic manipulator. b Optical images of the fabricated integrated sensing system with flexible piezoelectric and strain sensors. c A comparison of the piezoelectric voltage between the theoretical predictions, simulation results, and experimental demonstrations as a function of the applied pressure. d The voltage output of the flexible piezoelectric layer under various applied pressure as a function of time. e A comparison of relative resistance change of LM under applied tensile strain range from 0% to 100% between the theoretical calculation and experimental measurements. f Simulation results of stress distributions at top surface of the LM sensor for the applied 50% and 100% tensile strain. g Experimental demonstrations of relative resistance change of LM under applied tensile strain range from 20% to 100%. h Working stability of the LM sensor tested over 100 cycles under a tensile strain of 50%.

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