Leaf-Stomata-Inspired 3D Suspended Ultrasensitive E-Skin for Dual-Modal Tactile and Nociceptive Sensing in Robotics

Artificial sensory systems with synergistic tactile and nociceptive perception are essential for advanced human-robot interaction and environmental monitoring. However, developing scalable, tunable electronic skin (e-skin) that combines ultrasensitive tactile and nociceptive sensing remains challenging. Here, inspired by leaf stomata, we present a suspended biomimetic e-skin enabling 3D deformation-mechanical contact interactions for adjustable sensing. By integrating Langmuir-Blodgett assembly with a mechanical strategy, we achieve large-scale, precise alignment of metal nanowires and controlled crack formation, resulting in ultrahigh sensitivity (205.08 kPa^-1) and excellent cyclic stability (120 000 cycles). Leveraging its dual-modal sensing mechanism, the e-skin is incorporated into a robotic tactile system, enabling non-destructive grasping of soft objects and real-time avoidance of sharp objects under closed-loop control. This simple, scalable approach provides a versatile platform for ultrasensitive, adaptive e-skin, advancing robotic tactile and nociceptive perception and promoting intelligent human-robot interaction.