Triboelectric and iontronic dual-responsive bioinspired ionic skin for human–like dexterous robotic manipulation

Powerful tactile perception is keystone for robots to achieve human-like dexterous manipulation. However, endowing robots with tactile perception capabilities that approach or even surpass those of humans is a challenge. Organisms can perceive complex environments rapidly, and almost all perception is related to the directional transport of ions. Inspired by this mechanism, we design a flexible dual-responsive skin (FDRS) based on ions migration for proximity and tactile somatosensation, which is consisting of single-electrode triboelectric nanogenerator and iontronic sensor, achieving surpassing-skin capabilities. The single-electrode triboelectric nanogenerator can encode the proximity information of approaching targets into a series of voltage pulses with fast response time (100 μs). The iontronic tactile unit based on the hierarchical micro-hemispherical gel layer achieves high linearity (R² = 0.998) over a broad range of 0–700 kPa. We demonstrate the applications of FDRS for three-dimensional object recognition and robotic control. These capabilities of the multilayer integrated FDRS provide new perspectives for the future development of human-like dexterous robotic manipulation.