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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. 3 — a Flow chart of triboelectric signal processing for manipulation in virtual space. b Examples of the original triboelectric signals after the preprocessing circuit. c Demonstration of controlling virtual character: (i) the controllable motions and the activated sensors with the limits of motion ranges for 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 and (ii) the real-time signals during the manipulation, the output channels of BF, BB, SF, SB, EF, EB, WF, WB, FF, and FB stand for the forward (clockwise) and the backward (counterclockwise) rotations of the RTBD-B sensor, the RTBD-S sensor, the RTBD-E sensor, the RTBD-W sensor, and the LTBD-F sensor, i.e., BF for forward rotation of RTBD-B. Photo credit: Minglu Zhu, National University of Singapore.