For humans,touch is a sense that is easily distinguishable,but difficult to characterize through sensor da-ta.A multi-mode tactile sensor based on friction nanogenerator is developed in this paper.The sensor can not only realize the detection of contact area,contact position,contact frequency and slide,but also has a simple structure,and only one data channel can realize multi-mode tactile detection.It has great potential in electronic skin and soft robot applications,and can give robots more diversified sensing capabilities.
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