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. 2022 Sep 5;13:5224. doi: 10.1038/s41467-022-32745-8

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© The Author(s) 2022

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 The (i) structure and (ii) working mechanism of the TENG tactile sensor. b The (i) load voltage and (ii) the corresponding integration value for bending with different angles and the same speed. c The (i) load voltage and (ii) the corresponding integration value for bending with different speeds and same angle (90°). The verification of the tactile sensor for (d) step bending sensing and e continuous bending sensing. f The schematic of the robotic collaborative operation system. g The (i) outputs of the TENG tactile sensor for continuous robotic finger bending control with the (ii) illustrations show the corresponding human finger and robotic finger motions.