Robust bionic distributed multimodal flexible sensor for extreme-condition sensing and intelligent operation

Traditional multimodal flexible sensors struggle with system integration, limited node scalability, and overall robustness, posing multiple critical challenges. Inspired by the tiger-shark scalp, we present BDMFS, a robust bionic distributed multimodal flexible sensor, integrating an S-shaped optical network mimicking subcutaneous mechanoreceptors with a self-powered triboelectric interface emulating ampullae-based proximity sensing. A microstructured elastic dielectric layer serves as both optical substrate and triboelectric layer, providing exceptional flexibility, mechanical robustness, and environmental adaptability under diverse conditions. BDMFS enables spatiotemporally synchronized perception of proximity (~ 100 mm) and tactile (~ 5 ms) stimuli, detecting gentle touches of 0.25 g while withstanding 6.26 MPa pressures. Coupled with machine-learning, it achieves 95.26% object-proximity recognition accuracy, demonstrated in real-time virtual music teaching, adaptive grasping under low light, and wrist-mounted underwater teleoperation, highlighting its potential for intelligent control and advanced human-robot interaction in extreme environments.