Stretchable capacitive devices are instrumental for new‐generation multifunctional haptic technologies particularly suited for soft robotics and electronic skin applications. A majority of elongating soft electronics still rely on silicone for building devices or sensors by multiple‐step replication. In this study, fabrication of a reliable elongating parallel‐plate capacitive touch sensor, using nitrile rubber gloves as templates, is demonstrated. Spray coating both sides of a rubber piece cut out of a glove with a conductive polymer suspension carrying dispersed carbon nanofibers (CnFs) or graphene nanoplatelets (GnPs) is sufficient for making electrodes with low sheet resistance values (≈10 Ω sq⁻¹). The electrodes based on CnFs maintain their conductivity up to 100% elongation whereas the GnPs‐based ones form cracks before 60% elongation. However, both electrodes are reliable under elongation levels associated with human joints motility (≈20%). Strikingly, structural damages due to repeated elongation/recovery cycles could be healed through annealing. Haptic sensing characteristics of a stretchable capacitive device by wrapping it around the fingertip of a robotic hand (ICub) are demonstrated. Tactile forces as low as 0.03 N and as high as 5 N can be easily sensed by the device under elongation or over curvilinear surfaces.

中文翻译：

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碳纳米纤维与基于石墨烯的可拉伸电容式触摸传感器，用于人造电子皮肤

可伸展的电容性设备对于新一代多功能触觉技术至关重要，特别适合于软机器人和电子皮肤应用。大多数伸长的软电子产品仍然通过多步复制而依赖有机硅来构建设备或传感器。在这项研究中，展示了使用丁腈橡胶手套作为模板制造可靠的伸长平行板电容式触摸传感器的过程。用带有分散的碳纳米纤维（CnFs）或石墨烯纳米片（GnPs）的导电聚合物悬浮液喷涂从手套上切下的橡胶片的两面，足以制成具有低薄层电阻值（≈10Ωsq ^-1的电极））。基于CnFs的电极可保持其导电率高达100％的伸长率，而基于GnPs的电极在伸长率达60％之前会形成裂纹。但是，两个电极在与人体关节运动相关的伸长水平（约20％）下都是可靠的。令人惊讶的是，由于重复的伸长/恢复循环而造成的结构损坏可以通过退火得到修复。通过将可伸缩电容装置包裹在机械手（ICub）的指尖上，说明其触觉感应特性。在伸长或弯曲表面上，该设备很容易感应到低至0.03 N和高至5 N的触觉力。