Fig. 3: 12 ×12 MDPS array characterization on soft surface.

a Schematic illustration of MDPS array integrated with flexible 12 × 12 electrode. b Stimulated taxel numbers along bending directions and angles. c Stimulated taxel ratio of multipoint measurement according to the modulus of substrates. d Visualized taxel images of reference and MDPS when five points were pressed on the Ecoflex. e Responsiveness of reference and MDPS array under dynamic deformations such as rolling, waving, and bending.