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We present an electronic skin with proximity sensing capabilities. Through a simple and cheap fabrication process, we integrate carbon nanotube forests, which serve as the sensing element, into soft, flexible, and transparent artificial skin. Numerical simulations demonstrate the operational principle of the electronic skin proximity sensors. Experimental characterization reveals excellent repeatability and performance of the electronic skin proximity sensors, which are unaffected by the applied strain. Mounting the electronic skin on experimenter’s finger further demonstrates its high performance, variability, and potential to interface with humans. Thus, the cheap and simple fabrication process of this electronic skin, together with its straightforward operation, high reliability, and excellent performance under large deformations and different working conditions, set the stage for the development of a new generation of high-end flexible sensory electronic skin, which is attractive in a wide range of engineering fields, such as autonomous soft robotics, biomedicine, and the Internet of Things.

Wet-resistant flexible electronics have acquired increasing attention on applications in wet environments, such as sweaty skin, rainy weather, biological fluids, and underwater. However, it remains challenging to achieve non-swelling and underwater self-healing hydrogel sensors for the mechanical perception in aqueous solutions. Herein, a self-healing and non-swellable hydrogel is successfully fabricated, which presents an automatically healing behavior in various aquatic environments, including deionized water, seawater, sweat, alkali and acidic aqueous solutions. Moreover, the hydrogel demonstrates high stretchability and stable electromechanical sensing properties in water. Furthermore, an electronic skin is designed with the features of fast responsiveness, reliability, and high sensitivity for detecting breathing, speaking, coughing, and diverse body movements. The self-healing hydrogel sensors enable a brilliant mechanical sensibility for detecting a series of dynamic stimuli in air and underwater, even after the healing of fracture interface in water. The underwater self-healing and anti-swelling hydrogel would provide enticing potential on various stable electronic devices for aquatic environments, such as implantable electrodes, triboelectric nanogenerators, and underwater soft robotics.

Recent advancement in wearable and robot-assisted healthcare technology gives rise to the demand for smart interfaces that allow more efficient human-machine interaction. In this paper, a hydrogel-based soft sensor for subtle touch detection is proposed. Adopting the working principle of a biomedical imaging technology known as electrical impedance tomography (EIT), the sensor produces images that display the electrical conductivity distribution of its sensitive region to enable touch detection. The sensor was made from a natural gelatin hydrogel whose electrical conductivity is considerably less than that of human skin. The low conductivity of the sensor enabled a touch-detection mechanism based on a novel short-circuiting approach, which resulted in the reconstructed images being predominantly affected by the electrical contact between the sensor and fingertips, rather than the conventionally used piezoresistive response of the sensing material. The experimental results indicated that the proposed sensor was promising for detecting subtle contacts without the necessity of exerting a noticeable force on the sensor.

Highly sensitive and cost-effective flexible piezoresistive sensors are pursued as essential components of electronic skin (e-skin) for a variety of applications such as soft robotics and body prosthesis. A common strategy for achieving high sensitivity of these sensors is to fabricate their electrode material with complex 3-D microstructures, but manufacturing cost-effective micro-structured sensors with high reliability and reproducibility is a challenge. Herein, a robust approach for producing high-reproductive microstructured polydimethylsiloxane (PDMS) films composing the sensors is proposed, based on silicon molds with a honeycomb-like architecture fabricated rapidly and cost-effectively at a standoff distance by femtosecond laser pulses in the self-channeling regime. Single-walled carbon nanotubes (SWNTs) are embedded in the micro-structured PDMS films composing sandwich-structural flexible piezoresistive sensors. The sensing devices exhibit good performance with high sensitivity, fast response time, and excellent stability and are used with success for the detection of hand motion pressure and blood pressure at the wrist, thus showing a great potential as components of e-skin for detection of various human motions.

Electronic skin (E-skin) capable of detecting various physical stimuli is required for monitoring external environments accurately. Here, we report an all-soft multiaxial force sensor based on liquid metal microchannel array for electronic skin applications. The proposed sensor is composed of stretchable elastomer and Galinstan, a eutectic gallium-indium alloy, providing a high mechanical flexibility and electro-mechanical durability. Liquid metal microchannel arrays are fabricated in multilayer and positioned along a dome structure to detect multi-directional forces, supported by numerical simulation results. By adjusting the height of the dome, we could control the response of the multiaxial sensor with respect to the deflection. As a demonstration of multiaxial force sensing, we were able to monitor the direction of multidirectional forces using a finger by the response of liquid metal microchannel arrays. This research could be applied to various fields including soft robotics, wearable devices, and smart prosthetics for artificial intelligent skin applications.

State monitoring of the complex system needs a large number of sensors. Especially, studies in soft electronics aim to attain complete measurement of the body, mapping various stimulations like temperature, electrophysiological signals, and mechanical strains. However, conventional approach requires many sensor networks that cover the entire curvilinear surfaces of the target area. We introduce a new measuring system, a novel electronic skin integrated with a deep neural network that captures dynamic motions from a distance without creating a sensor network. The device detects minute deformations from the unique laser-induced crack structures. A single skin sensor decodes the complex motion of five finger motions in real-time, and the rapid situation learning (RSL) ensures stable operation regardless of its position on the wrist. The sensor is also capable of extracting gait motions from pelvis. This technology is expected to provide a turning point in health-monitoring, motion tracking, and soft robotics., Real-time monitoring human motions normally demands connecting a large number of sensors in a complicated network. To make it simpler, Kim et al. decode the motion of fingers using a flexible sensor attached on wrist that measures skin deformation with the help of a deep-learning architecture.

Conductive self-healing polymer hydrogel and related soft sensor devices are receiving considerable attention from academia to industry because of their impacts on the lifetime and ergonomic design of soft robotics, prosthesis, and health monitoring systems. However, the development of such a material has thus far been limited considering performances and accessibility. Herein, robustness, self-healing, and conductivity for soft electronic skin are realized by an interpenetrating polymer network (IPN) system based on chemical/ionic cross-linked poly(acrylic acid) containing ferric ions, intercalated with physically cross-linked poly(vinyl alcohol). This IPN hydrogel successfully satisfies all three aforementioned capabilities; elongation at break greater than 1400%; recovery to original mechanical properties greater than 80% after 24 h; and 0.14 S m−1 of ionic conductivity, which is electrically healable. Such ionic conductivity of hydrogels enables multimodal sensing capabilities, i.e., for strain, pressure, and temperature. Particularly, a uniquely designed dual sensor attached to a finger simultaneously detects mechanical folding and pressure changes independently and can undergo large deformation 1000 times repeated and heating up to 90 °C.

Self-healing materials can prolong the lifetime of structures and products by enabling the repairing of damage. However, detecting the damage and the progress of the healing process remains an important issue. In this study, self-healing, piezoresistive strain sensor fibers (ShSFs) are used for detecting strain deformation and damage in a self-healing elastomeric matrix. The ShSFs were embedded in the self-healing matrix for the development of self-healing sensor fiber composites (ShSFC) with elongation at break values of up to 100%. A quadruple hydrogen-bonded supramolecular elastomer was used as a matrix material. The ShSFCs exhibited a reproducible and monotonic response. The ShSFCs were investigated for use as sensorized electronic skin on 3D-printed soft robotic modules, such as bending actuators. Depending on the bending actuator module, the electronic skin was loaded under either compression (pneumatic-based module) or tension (tendon-based module). In both configurations, the ShSFs could be successfully used as deformation sensors, and in addition, detect the presence of damage based on the sensor signal drift. The sensor under tension showed better recovery of the signal after healing, and smaller signal relaxation. Even with the complete severing of the fiber, the piezoresistive properties returned after the healing, but in that case, thermal heat treatment was required. With their resilient response and self-healing properties, the supramolecular fiber composites can be used for the next generation of soft robotic modules.

Self-healing materials can prolong the lifetime of structures and products by enabling the repairing of damage. However, detecting the damage and the progress of the healing process remains an important issue. In this study, self-healing, piezoresistive strain sensor fibers (ShSFs) are used for detecting strain deformation and damage in a self-healing elastomeric matrix. The ShSFs were embedded in the self-healing matrix for the development of self-healing sensor fiber composites (ShSFC) with elongation at break values of up to 100%. A quadruple hydrogen-bonded supramolecular elastomer was used as a matrix material. The ShSFCs exhibited a reproducible and monotonic response. The ShSFCs were investigated for use as sensorized electronic skin on 3D-printed soft robotic modules, such as bending actuators. Depending on the bending actuator module, the electronic skin was loaded under either compression (pneumatic-based module) or tension (tendon-based module). In both configurations, the ShSFs could be successfully used as deformation sensors, and in addition, detect the presence of damage based on the sensor signal drift. The sensor under tension showed better recovery of the signal after healing, and smaller signal relaxation. Even with the complete severing of the fiber, the piezoresistive properties returned after the healing, but in that case, thermal heat treatment was required. With their resilient response and self-healing properties, the supramolecular fiber composites can be used for the next generation of soft robotic modules.

The development of a multimodal sensing platform with multiple layers for electronic skin (e-skin) sensing of temperature and pressure has attracted considerable interest to practical applications in soft robotics, human-machine interfaces, and wearable health monitoring. In this work, we demonstrated a new platform technology with multiple sandwiched layers of highly oriented carbon nanotube membrane and polyacrylonitrile for the integration of pressure and temperature sensory functionalities into a single platform that is thin, ultra-lightweight, flexible, and wearable. The key technology of in situ deposition of sensor platform on objects or in robot interface makes this a unique method for the development of e-skins for robotic applications, offering a new approach to wearable electronics and portable health care.

Contains fulltext : 238926.pdf (Publisher’s version ) (Closed access) Soft and electrically active materials are currently being utilized for intelligent systems, including electronic skin, cybernetics, soft robotics, and wearable devices. However, fabricating materials that fulfill the complex requirements of such advanced applications remains a challenge. These attributes include electronic, adhesive, self-healing, flexible, moldable, printable, and strong mechanical properties. Inspired by the recent interest in transforming monofunctional materials into multifunctional ones through nanoreinforcement and mussel-inspired chemistry, we have designed a simple two-step methodology based on halloysite nanotube (HNT) and polydopamine (PDA) to address the grand challenges in the field. In brief, HNTs were coated with PDA and embedded within a poly(vinyl alcohol) (PVA)-based polymeric matrix in combination with ferric ions (Fe(3+)). The final composite displayed a 3-fold increase in electrical conductivity, a 20-fold increase in mechanical stiffness, and a 7-fold increase in energy dissipation in comparison to their nonfunctional counterparts, which arose from a combination of nanotube alignment and mussel-inspired chemistry. Moreover, the developed composite could elongate up to 30000% of its original length, maintain its electrical properties after 600% strain, self-heal within seconds (both electrically and mechanically), and display strain-sensitivity. Finally, it was 3D-printable and thus amenable for engineering of customized wearable electronics.

Electronic skin (e-skin) with skin-like flexibility and tactile sensation will promote the great advancements in the fields of wearable equipment. Thus, the multifunction and high robustness are two important requirements for sensing capability of the e-skin. Here, a fully organic self-powered e-skin (FOSE-skin) based on the triboelectric nanogenerator (TENG) is developed. FOSE-skin based on TENG can be fully self-healed within 10 hours after being sheared by employing the self-healing polymer as a triboelectric layer and ionic liquid with the temperature sensitivity as an electrode. FOSE-skin based on TENG has the multifunctional and highly robust sensing capability and can sense the pressure and temperature simultaneously. The sensing capability of the FOSE-skin based on TENG can be highly robust with no changes after self-healing. FOSE-skin based on TENG can be employed to detect the arm swing, the temperature change of flowing water, and the motion trajectory. This work provides a new idea for solving the issues of monofunctional and low robust sensing capability for FOSE-skin based on TENG, which can further promote the application of wearable electronics in soft robotics and bionic prosthetics.

Biological tissues are multiresponsive and functional, and similar properties might be possible in synthetic systems by merging responsive polymers with hierarchical soft architectures. For example, mechanochromic polymers have applications in force-responsive colorimetric sensors and soft robotics, but their integration into sensitive, multifunctional devices remains challenging. Herein, a hierarchical nanoparticle-in-micropore (NP-MP) architecture in porous mechanochromic polymers, which enhances the mechanosensitivity and stretchability of mechanochromic electronic skins (e-skins), is reported. The hierarchical NP-MP structure results in stress-concentration-induced mechanochemical activation of mechanophores, significantly improving the mechanochromic sensitivity to both tensile strain and normal force (critical tensile strain: 50% and normal force: 1 N). Furthermore, the porous mechanochromic composites exhibit a reversible mechanochromism under a strain of 250%. This architecture enables a dual-mode mechanochromic e-skin for detecting static/dynamic forces via mechanochromism and triboelectricity. The hierarchical NP-MP architecture provides a general platform to develop mechanochromic composites with high sensitivity and stretchability.

Skin is the largest organ with the functionalities of protection, regulation and sensation. The emulation of human skin via flexible and stretchable electronics gives rise to electronic skin (e-skin), which has realized artificial sensations and other functions that cannot be achieved by conventional electronics, such as stretchability and self-healing. To date, tremendous progress has been made in data acquisition and transmission for e-skin systems, while the implementation of perception within systems, i.e. sensory data processing, is still in its infancy. Integrating the perception functionality into a flexible and stretchable sensing system, namely artificial skin perception, is critical to endow current e-skin systems with higher intelligence. Here, recent progresses in the design and fabrication of artificial skin perception devices and systems are summarized, as well as challenges and prospects are discussed. The strategies for implementing artificial skin perception utilize either conventional silicon-based circuits or novel flexible computing devices such as memristive devices and synaptic transistors, which enable artificial skin to surpass the human skin with a distributed, low-latency and energy-efficient information processing ability. In future, artificial skin perception would be a new enabling technology to construct next-generation intelligent electronic devices and systems, paving the way for advanced soft robotic applications, such as surgical assistance, rehabilitation, and prosthetics. Agency for Science, Technology and Research (A*STAR) Ministry of Education (MOE) National Research Foundation (NRF) Accepted version We thank the financial support from the Agency for Science, Technology and Research (A*STAR) under its AME Programmatic Funding Scheme for the Project of Cyber- Physiochemical Interfaces (Project #A18A1b0045), Singapore Ministry of Education (MOE2017-T2-2-107 and MOE2019-T2-2-022), and the National Research Foundation (NRF), Prime Minister’s office, Singapore, under its NRF Investigatorship (NRF-NRFI2017- 07).

Smart skin-like electronics are urgently crucial for artificial muscles, while the development of self-powered two-dimensional-like multifunctional material systems remains significant challenges. Here, we demonstrate a new class of printed smart electronic skin (SES) with multi-sensing properties and energy conversion capability using simple and cost-effective printing techniques. The resulting all-organic self-powering SES functioning as a human-monitoring device where it can detect a variety of external stimuli and works as an ultra-flexible biomechanical energy harvester. Remarkably, our SES exhibits excellent antibacterial properties in addition to self-adaptive performance under various conditions, such as being bent, cut, sewed, hammered, punctured, and washed. The proposed SES devices here have the promise for broad applications in future functional-wearables for human-machine interface, soft robotics, and skin prosthetics.

Stretchable conductors are vital and indispensable components in soft electronic systems. The development for stretchable conductors has been highly motivated with different approaches established to address the dilemma in the conductivity and stretchability trade-offs to some extent. Here, a new strategy to achieve superelastic conductors with high conductivity and stable electrical performance under stretching is reported. It is demonstrated that by electrically anchoring conductive fillers with eutectic gallium indium particles (EGaInPs), significant improvement in stretchability and durability can be achieved in stretchable conductors. Different from the strategy of modulating the chemical interactions between the conductive fillers and host polymers, the EGaInPs provide dynamic and robust electrical anchors between the conductive fillers. A superelastic conductor which can achieve a high stretchability with 1000% strain at initial conductivity of 8331 S cm-1 and excellent cycling durability with about eight times resistance change (compared to the initial resistance at 0% strain before stretching) after reversibly stretching to 800% strain for 10 000 times is demonstrated. Applications of the superelastic conductor in an interactive soft touch device and a stretchable light-emitting system are also demonstrated, featuring its promising applications in soft robotics or soft and interactive human-machine interfaces. National Research Foundation (NRF) The authors thank Dr. M. Lin, Dr. J. Xiong, Dr. P, Cui, Q. Kai, and X. Chen for their valuable discussions. This work was financially supported by the National Research Foundation Competitive Research Programme (Award No. NRF-CRP-13-2014-02), and the NRF Investigatorship (NRFI) (Award No. NRF-NRFI2016-05).

Stretchable capacitive devices are instrumental for new‐generation multifunctional haptic technologies particularly suited for soft robotics and electronic skin applications. A majority of elongating soft electronics still rely on silicone for building devices or sensors by multiple‐step replication. In this study, fabrication of a reliable elongating parallel‐plate capacitive touch sensor, using nitrile rubber gloves as templates, is demonstrated. Spray coating both sides of a rubber piece cut out of a glove with a conductive polymer suspension carrying dispersed carbon nanofibers (CnFs) or graphene nanoplatelets (GnPs) is sufficient for making electrodes with low sheet resistance values (≈10 Ω sq−1). The electrodes based on CnFs maintain their conductivity up to 100% elongation whereas the GnPs‐based ones form cracks before 60% elongation. However, both electrodes are reliable under elongation levels associated with human joints motility (≈20%). Strikingly, structural damages due to repeated elongation/recovery cycles could be healed through annealing. Haptic sensing characteristics of a stretchable capacitive device by wrapping it around the fingertip of a robotic hand (ICub) are demonstrated. Tactile forces as low as 0.03 N and as high as 5 N can be easily sensed by the device under elongation or over curvilinear surfaces.

There are now numerous emerging flexible and wearable sensing technologies that can perform a myriad of physical and physiological measurements. Rapid advances in developing and implementing such sensors in the last several years have demonstrated the growing significance and potential utility of this unique class of sensing platforms. Applications include wearable consumer electronics, soft robotics, medical prosthetics, electronic skin, and health monitoring. In this review, we provide a state-of-the-art overview of the emerging flexible and wearable sensing platforms for healthcare and biomedical applications. We first introduce the selection of flexible and stretchable materials and the fabrication of sensors based on these materials. We then compare the different solid-state and liquid-state physical sensing platforms and examine the mechanical deformation-based working mechanisms of these sensors. We also highlight some of the exciting applications of flexible and wearable physical sensors in emerging healthcare and biomedical applications, in particular for artificial electronic skins, physiological health monitoring and assessment, and therapeutic and drug delivery. Finally, we conclude this review by offering some insight into the challenges and opportunities facing this field.

Developing stretchable and self-healable skin-like materials have received increasing research for their broad application in wearable sensors, artificial intelligence, and soft robotics. However, development of skin-like sensor that can combine superior stretchable and self-healing ability is still a challenge. In this work, we designed a tough and self-healing hydrogel by formation of the hydrogen bonds and dual metal-carboxylate coordination bonds among pectin, poly(acrylic acid) and metal ions. The reversible nature of dynamic coordination interactions endowing the hydrogel high stretchability (1214%), excellent recovery property as well as superior self-healing ability (94% healing efficiency in 2 h) without any assistance of external stimuli. The stretchable and self-healable capacitance sensors are based on the hydrogel can detect a large scale of pressures, monitor the multifarious human motions, mimic the function of self-healing and sensation properties of natural skins. This work provides excellent performance of pressure and strain sensors based on the stretchable and self-healable hydrogel, it shows great potential in the field of electronic skin systems.

Stretchable strain sensors, as the soft mechanical interface, provide the key mechanical information of the systems for healthcare monitoring, rehabilitation assistance, soft exoskeletal devices, and soft robotics. Stretchable strain sensors based on 2D flat film have been widely developed to monitor the in-plane force applied within the plane where the sensor is placed. However, to comprehensively obtain the mechanical feedback, the capability to detect the out-of-plane force, caused by the interaction outside of the plane where the senor is located, is needed. Herein, a 3D-structured stretchable strain sensor is reported to monitor the out-of-plane force by employing 3D printing in conjunction with out-of-plane capillary force-assisted self-pinning of carbon nanotubes. The 3D-structured sensor possesses large stretchability, multistrain detection, and strain-direction recognition by one single sensor. It is demonstrated that out-of-plane forces induced by the air/fluid flow are reliably monitored and intricate flow details are clearly recorded. The development opens up for the exploration of next-generation 3D stretchable sensors for electronic skin and soft robotics. NRF (Natl Research Foundation, S’pore) MOE (Min. of Education, S’pore) Accepted version

Soft robotics and flexible electronics are rising in popularity and can be used in many applications. However, there is still a need for processing routes that allow the upscaling in production for functional soft robotic parts in an industrial scale. In this study, injection molding of liquid silicone is suggested as a fabrication method for sensorized robotic skin based on sensor fiber composites. Sensor fibers based on thermoplastic elastomers with two different shore hardness (50A and 70A) are combined with different silicone materials. A mathematical model is used to predict the mechanical load transfer from the silicone matrix to the fiber and shows that the matrix of the lowest shore hardness should not be combined with the stiffer fiber. The sensor fiber composites are fixed on a 3D printed robotic finger. The sensorized robotic skin based on the composite with the 50A fiber in combination with pre-straining gives good sensor performance as well as a large elasticity. It is proposed that a miss-match in the mechanical properties between fiber sensor and matrix should be avoided in order to achieve low drift and relaxation. These findings can be used as guidelines for material selection for future sensor integrated soft robotic systems.

Self-healing materials can prolong the lifetime of structures and products by enabling the repairing of damage. However, detecting the damage and the progress of the healing process remains an important issue. In this study, self-healing, piezoresistive strain sensor fibers (ShSFs) are used for detecting strain deformation and damage in a self-healing elastomeric matrix. The ShSFs were embedded in the self-healing matrix for the development of self-healing sensor fiber composites (ShSFC) with elongation at break values of up to 100%. A quadruple hydrogen-bonded supramolecular elastomer was used as a matrix material. The ShSFCs exhibited a reproducible and monotonic response. The ShSFCs were investigated for use as sensorized electronic skin on 3D-printed soft robotic modules, such as bending actuators. Depending on the bending actuator module, the electronic skin was loaded under either compression (pneumatic-based module) or tension (tendon-based module). In both configurations, the ShSFs could be successfully used as deformation sensors, and in addition, detect the presence of damage based on the sensor signal drift. The sensor under tension showed better recovery of the signal after healing, and smaller signal relaxation. Even with the complete severing of the fiber, the piezoresistive properties returned after the healing, but in that case, thermal heat treatment was required. With their resilient response and self-healing properties, the supramolecular fiber composites can be used for the next generation of soft robotic modules.