Figure 1.

Physical characteristics of the developed sensing system

(A) Explosion view of the manipulator, consisting of three CS-TENGs, nine SL-TENGs, and three soft actuators.

(B) The as-fabricated CS-TENG sensor and the basic structure. (i) The model of CS-TENG. (ii) The sketch of CS-TENG.

(C) The as-fabricated SL-TENG sensor and the basic structure. (i) The sketch of SL-TENG. (ii) The SEM image of the silicone rubber.

(D) Schematic diagram of potential applications that can be enabled by the developed sensing system.