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. 2021 May 11;12:2692. doi: 10.1038/s41467-021-23020-3

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 2 — a Configuration of the assembly of the exoskeleton sensory system, with the rotational triboelectric bidirectional back (RTBD-B) sensor, the rotational triboelectric bidirectional shoulder (RTBD-S) sensor, the rotational triboelectric bidirectional elbow (RTBD-E) sensor, the rotational triboelectric bidirectional wrist (RTBD-W) sensor, and the linear triboelectric bidirectional finger (LTBD-F) sensor. b (i) Configuration of the varied grating widths (1, 3, 5, and 7 mm) with a constant spacing of 3 mm for a rotation TBD (RTBD) sensor, (ii) measurement of triboelectric output signals from the rotation speed of 10 revolutions per minute (RPM) to 300 RPM, and (iii) the enlarged waveforms of 10 RPM and 300 RPM. c (i) Configuration of the varied spacing (1, 2, and 3 mm) with a constant width of 3 mm for a RTBD sensor, (ii) measurement of triboelectric output signals from the rotation speed of 10 to 300 RPM, and (iii) the enlarged waveforms of 10 RPM and 200 RPM. d Configuration and measured triboelectric output signals for a linear TBD (LTBD) sensor with the varied spacing during the finger bending of 90°. e Response latency of switch (1.5 mm gap) during the changing of the rotation directions. The inserted graph is the enlarged waveform of 10 RPM, and the time of the peak voltages of the separation (1) and contact (2) signals are provided. f Measured signals for bidirectional rotation with the grating pattern of four varied widths (1, 3, 5, and 7 mm).