A triboelectric flexible pressure sensors based on synergistic enhancement of material and structure for robot behavior perception

Flexible pressure sensors are an invaluable component of fields such as electronic skin, smart healthcare, and human–computer interaction. At present, how to prepare high-performance and multifunctional flexible pressure sensors has become a research difficulty. In this paper, we propose a triboelectric flexible pressure sensor (TFPS) based on the synergistic enhancement effect of materials and structures for robot behavior perception. In terms of materials, the influence of SiO₂ and Mxene on the electrical output performance of PDMS was investigated. In terms of structure, the prepared intermittent structure realizes layered perception of external pressure. Under the synergistic enhancement of both, the sensing performance of the TFPS prepared in this paper exhibits a wide pressure response range (1–900 kPa), high sensitivity (2.28 V/10⁴ Pa), fast response speed (23 \(\text{ms}\) $\text{ms}$ ), and powerful stability (10,000 cycles). In addition, TFPS combined with SVM algorithm achieves up to 99.26% accuracy in motion state recognition of robots. Meanwhile, the array placement structure enables its functional diversity. For robot head motion perception, TFPS also shows excellent performance. This work has significant research value and implications for the development of sensors for non-human behavior perception.