Based on the triboelectrification and electrostatic induction, triboelectric nanogenerators (TENGs) have already expanded many applications ranging from ambient mechanical energy harvesting to self-powered sensors. Diverse advanced techniques have been utilized to fabricate various devices to fulfill those applications. To further develop the wide utilization of TENGs, we introduce 4D printing technology to fabricate the transparent self-recovered TENGs, which not only provide excellent self-recoverability of device performance and improve the robustness of device structure, but also open a path to fabricate complicated structure through computer design with no need of any molds. The printed devices have the capabilities of harvesting mechanical energy with maximum output power density of 56 mW/m² as well as detecting the bending angles of human joints as self-powered sensor. The self-recoverability is originated from shape memory polymer (SMP) under thermal treatment. Therefore, the self-recovered TENGs based on 4D printing technology may offer great potential in energy harvesting and self-powered sensors for human-robot cooperation in sensing and control of robot in need of sophisticated and precise structures.

基于摩擦起电和静电感应，摩擦电纳米发电机（TENG）已经扩展了许多应用，从环境机械能量收集到自供电传感器。已经利用各种先进技术来制造各种设备来实现那些应用。为了进一步发展TENG的广泛应用，我们引入了4D打印技术来制造透明的自恢复TENG，这不仅提供了出色的设备性能自恢复能力，提高了设备​​结构的坚固性，而且开辟了制造复杂TENG的途径。通过计算机设计完成结构，无需任何模具。印刷设备具有收集机械能的能力，最大输出功率密度为56 mW / m ²以及检测人体关节的弯曲角度作为自供电传感器。自恢复性源自热处理后的形状记忆聚合物（SMP）。因此，基于4D打印技术的自恢复式TENG可能在能量收集和自供电传感器方面具有巨大潜力，可用于人机协作，以感测和控制需要精密和精确结构的机器人。