Table 2.

The tactile sensor characteristics with various gate dielectric and channel materials.

Dielectric Materials	Channel Materials	Pressure-Sensing Range	Response Time	Spatial Resolution	Sensitivity	Reference
Pressure-sensitive rubber (PSR)	50 nm-thick pentacene layer	0 to 30 kPa	~30 ms of cycle time	16 × 16 arrays 10 dpi (254 mm)		[62]
Ecoflex-porous elastomeric		0.1 Pa to ~130 kPa	Fast response time	0.17 μm Position resolution	0.601${\mathrm{kPa}}^{-1}$ at 5 kPa	[95]
Microstructured V-shape-groove PDMS (pyramid molding PDMS)	Rubrene single crystal	0 to ~7 kPa		~ 1 mm	(<2 kPa) 0.55${\mathrm{kPa}}^{-1}$ (>2 kPa) to 0.15 kPa−1	[55]
Microstructural PDMS	PiI2T-Si	0 to 60 kPa	< 10 ms	~ 1.7 mm	(<8 kPa) 8.2${\mathrm{kPa}}^{-1}$ (>30 kPa) 0.38 ${\mathrm{kPa}}^{-1}$	[93]
PDMS with air-gap	Graphene	250 Pa to ~3 MPa	30 ms	1 mm	(<500 kPa) to 2.05 × 10−4 ${\mathrm{kPa}}^{-1}$ and (>500 kPa) to 9.43 × 10−6 ${\mathrm{kPa}}^{-1}$	[67]
PDMS + G-PDMS (G-PDMS; synthesis of glycerol and PDMS at 1:10)	$\mathrm{Mo}{S}_2$	200 Pa to 5 MPa	25 ms	500 μm	(<500 kPa) 1.8 ${\mathrm{MPa}}^{-1}$ (>500 kPa) 0.018 ${\mathrm{MPa}}^{-1}$	[15]