Three-Dimensional Stretchable Tactile Sensors for Robotic Bionic Skin

Stretchable tactile sensors are essential for robotic skin; however, conventional planar integration methods struggle to accommodate complex geometries, thereby limiting advanced sensing applications. Existing fabrication approaches (e.g., transfer printing) also face scalability challenges due to their reliance on preassembled planar structures. Inspired by biological systems, we propose a novel 3D fabrication strategy that integrates 3D printing, material innovation, and laser direct writing to directly construct stretchable tactile sensor arrays on 3D substrates, enabling seamless multilayer interconnections. Mimicking the 3D folded epidermis of crocodile skin, the proposed biomimetic structure exhibits performance advantages beyond those of human skin. The proof-of-concept sensor arrays demonstrate high responsiveness, with an amplitude response time of less than 0.5 ms and a maximum operating frequency of 473.33 Hz, along with a frequency resolution of 0.35 Hz and an angular resolution of 1°. Notably, 900 sensors were integrated onto a sub-meter-scale film, achieving 100% accuracy in complex pattern recognition tasks via deep learning. This approach enables a transition from 2D to scalable 3D fabrication and provides a versatile platform for next-generation robotic bionic skin and intelligent sensing systems.