Stretchable triboelectric sensor array for real-time tactile sensing based on coaxial printing

With the rapid development of flexible and wearable electronics, tactile sensor array has shown great potential to detect diverse external stimuli in human–machine interactions and robotic intelligence. In this study, we developed triboelectric sensor array (TSA) with cross-laminated electrode via low-cost coaxial printing technique with the advantages of high precision, high efficiency and excellent uniformity. The results show that the proposed cross-laminated electrode based TSA possesses the characteristics of easy-fabrication process, high-sensitivity, long-term mechanical endurance and real-time trajectory sensing capacity. It can generate the maximum output voltage of 15.98 V at a frequency 4 Hz and vertical force 5 N in single electrode mode, and the maximum power is about 3.9 μW. Besides, TSA shows excellent stability under harsh mechanical bending, twisting and stretching deformation and even waterproof capability. This work offers a previously unexplored strategy for shortening individual design and fabrication cycle of flexible electronics, and promoting the potential application for stretchable sensor array in electronic skin, tactile detection and human–machine interactions.