A flexible sensor can be applied to monitor human motion, which can further be engineered with soft robotics to monitor their motion in the real time. However, to realize deformation detection with high-sensitivity in soft robots while simultaneously maintaining a high linearity and cyclic stability of the sensor yet remains as an unmet challenge. Herein, we fabricated strain sensors exhibiting a buckle and a sandwich like structure by spraying MXene (Ti₃C₂T_x)/carbon nanotubes (CNTs)/fluoro-rubber composite materials onto a 200 % pre-stretched flexible rubber substrate. The resulting strain sensors displayed a wide range of detection (e.g., 1–150 %), high sensitivity (gauge factor (GF) for up to 461), good linearity, fast response time (21.2 ms), large stretching (150 %) as well as, excellent repeatability and stability. This sensor can further monitor the human physiology and the motion of the body. We also developed a soft robot with integrated sensors that enabled it to crawl like a caterpillar while leveraging its sensing function to detect its status in the real time. Conclusively, these hybrid strain sensors may have broad implications for robotics as well as wearable sensors for health monitoring and physiological recordings.

可以应用灵活的传感器来监控人体运动，可以进一步使用软机器人进行工程设计，以实时监控他们的运动。然而，要在软机器人中实现高灵敏度的变形检测，同时保持传感器的高线性度和循环稳定性，仍然是一个尚未解决的挑战。在此，我们通过喷涂 MXene (Ti ₃ C ₂ T _x)/碳纳米管 (CNT)/氟橡胶复合材料到 200% 预拉伸的柔性橡胶基材上。由此产生的应变传感器显示出广泛的检测范围（例如，1-150 %）、高灵敏度（测量因子 (GF) 高达 461）、良好的线性度、快速响应时间 (21.2 ms)、大拉伸 (150 %)以及出色的可重复性和稳定性。该传感器可以进一步监测人体生理和身体的运动。我们还开发了一种集成传感器的软机器人，使其能够像毛毛虫一样爬行，同时利用其传感功能实时检测其状态。最后，这些混合应变传感器可能对机器人技术以及用于健康监测和生理记录的可穿戴传感器具有广泛的影响。