For the past two decades, the researches on stretchable physical sensors have made great technological advances, and have been applied to various applications such as electronic skin for robots, haptic devices, bionics, and wearable/implantable healthcare sensors, etc. The deformable physical sensors have been investigated in two approaches: the electronic sensors with the well-developed fabrication technologies and the iontronic sensors as a new technological alternative. There has been a wide spectrum of researches branching from the two approaches. They have evolved from simple-structured sensors with a single function into high-resolution array sensors with multiple functions. A variety of technological methods and principles have been explored depending on the target applications and the materials in use. The deformable sensors can be differentiated according to the specific methodology and principle; i) type of electrical signal (resistance or impedance, capacitance, induction, voltage or current, frequency), ii) power consumption (use of external power (passive) or self-signaling (active)), iii) data acquisition method (time-division multiple access or event-driven parallel access), and iv) multiple functionality (combination of different sensing units or multimodality). It is not clear at this stage which approach and method are suitable for which applications and materials. This review begins with a comparison of the technological methodologies and summarizes the evolution of deformable physical sensors. Focusing on key conceptual achievements according to the technological methodologies, this review introduces the advances of the electronic sensors in section 2 and the iontronic sensors in section 3. Section 4 discusses the challenges and directions for future researches, along with some possible technological solutions.

近二十年来，可伸缩物理传感器的研究取得了巨大的技术进步，并已应用于机器人电子皮肤、触觉设备、仿生学、可穿戴/植入式医疗传感器等各种应用。 可变形物理传感器已经通过两种方法进行了研究：具有成熟制造技术的电子传感器和离子电子传感器作为一种新的技术选择。从这两种方法分支出来的研究范围很广。它们已经从具有单一功能的简单结构传感器发展为具有多种功能的高分辨率阵列传感器。根据目标应用和使用的材料，已经探索了各种技术方法和原理。可变形传感器可根据具体方法和原理进行区分；i) 电信号类型（电阻或阻抗、电容、感应、电压或电流、频率），ii) 功耗（使用外部电源（无源）或自发信号（有源）），iii) 数据采集方法（时间-划分多路访问或事件驱动的并行访问），以及 iv) 多种功能（不同传感单元或多模态的组合）。目前尚不清楚哪种方法和方法适用于哪种应用和材料。这篇综述首先比较了技术方法，并总结了可变形物理传感器的演变。本综述根据技术方法重点关注关键概念性成果，第 2 节介绍了电子传感器的进展，第 3 节介绍了离子电子传感器的进展。第 4 节讨论了未来研究的挑战和方向，以及一些可能的技术解决方案。