Fig. 4: Sensing property of the PMPPF Sensor.

a–d Stretching sensor: a Digital image of stretching test device. b GF of the PMPPF sensor impregnated with the 6 times MXene at different strains (1%–35%). c Relative resistance changes of the sensor under stretch-release cycles at a maximum strain of 15%, 16%, 17%, and 18%, respectively. d Relative resistance changes of the sensor under stretch-release cycles at 0.2, 0.4, and 0.5 Hz, respectively. e–h Compression sensor: e Digital image of compress device. Blue column is plastic block (area of thrust surface: 1.5 cm × 1.5 cm). f GF of PMPPF sensor impregnated with the 6 times MXene at different pressure (0.13 kPa–53 kPa). g Relative resistance changes of the sensor under compress-release cycles at a maximum pressure of 17.3 kPa, 41.7 kPa, and 48 kPa, respectively. h Relative resistance changes of the sensor under compress-release cycles at 0.2, 0.1, and 0.05 Hz, respectively. i–l Bending sensor: i Digital image of bend device. j GF of the PMPPF sensor impregnated with the 6 times MXene at different bend angles (5.1°–17.8°). k Relative resistance changes of the sensor under bend-release cycles at a maximum bend angle of 5.1°, 6.9°, 8.5°, 12.2°, respectively. l Relative resistance changes of the sensor under bend-release cycles at 0.3, 0.15, and 0.1 Hz, respectively.