A Folded, Structure-Integrated Bimodal Sensor Enabling Non-Contact and Tactile Perception for Intelligent Robots

The rapid advancement of embodied intelligent robots demands accurate perception and integration of diverse environmental cues. However, current multimodal sensing systems are hindered by complex architectures and heterogeneous integration, which compromise rapid fabrication, seamless deployment, robustness, and multi-source signal perception. Here, we address this challenge through an elegant substrate-folding design strategy that enables bimodal sensing within a single monolithic laser-induced graphene (LIG) film, drastically simplifying device architecture and fabrication while paving the way for scalable, robot-ready multimodal perception modules. The folded bimodal sensor (F-BS), which features a one-step fabrication and assembly process, enables real-time detection of both non-contact proximity signals and contact tactile signals with mode differentiation by leveraging the triboelectric nanogenerator (TENG) effect and the piezoresistive property of graphene. After fluorination, it exhibits a non-contact sensing distance of 110 mm, a maximum pressure sensitivity of 11.2 kPa^-1, and a response time of 10 ms. The integration of proximity-tactile information enables an intelligent robotic system capable of accurately characterizing objects based on their physical properties, such as orientation, material, and hardness, with a recognition accuracy of up to 99% regardless of ambient lighting. This work provides a hardware foundation and expanded possibilities for human-robot interface systems with intelligent interaction capabilities.