A Reconfigurable Omnidirectional Triboelectric Whisker Sensor Array for Versatile Human–Machine–Environment Interaction
Weichen Wang, Jiaqi Zhu, Hongfa Zhao, Fei Yao, Yuzhu Zhang, Xiankuan Qian, Mingrui Shu, Zhigang Wu, Minyi Xu, Hongya Geng, Wenbo Ding, Juntian Qu
Abstract
Developing effective, versatile, and high-precision sensing interfaces remains a crucial challenge in human-machine-environment interaction applications. Despite progress in interaction-oriented sensing skins, limitations remain in unit-level reconfiguration, multiaxial force and motion sensing, and robust operation across dynamically changing or irregular surfaces. Herein, we develop a reconfigurable omnidirectional triboelectric whisker sensor array (RO-TWSA) comprising multiple sensing units that integrate a triboelectric whisker structure (TWS) with an untethered hydro-sealing vacuum sucker (UHSVS), enabling reversibly portable deployment and omnidirectional perception across diverse surfaces. Using a simple dual-triangular electrode layout paired with MXene/silicone nanocomposite dielectric layer, the sensor unit achieves precise omnidirectional force and motion sensing with a detection threshold as low as 0.024 N and an angular resolution of 5°, while the UHSVS provides reliable and reversible multi-surface anchoring for the sensor units by involving a newly designed hydrogel combining high mechanical robustness and superior water absorption. Extensive experiments demonstrate the effectiveness of RO-TWSA across various interactive scenarios, including teleoperation, tactile diagnostics, and robotic autonomous exploration. Overall, RO-TWSA presents a versatile and high-resolution tactile interface, offering new avenues for intelligent perception and interaction in complex real-world environments.