Wearable sensing electronics capable of detecting and differentiating multiple mechanical stimuli are promising devices in the applications of healthcare monitoring, robotics, etc. However, most wearable sensors are developed for detecting only uniaxial mechanical stimuli, which severely hinders their practical applications that usually involve complex mechanical stimuli. Here, a wing-like multifunctional sensor (WMS) consisting of pressure sensing module in the middle and stretching sensing module in both wings is developed with the capability of detecting and differentiating pressure, stretching, convex and concave bending through distinct electrical signals variation trends. The hierarchical in-situ filling porous as pressure sensing layer and micro-wrinkled carbon nanotubes (CNTs)/Ag nanoflakes as stretch sensing layer achieve high sensitivity over a broad range in both pressure (sensitivity of 0.25 kPa⁻¹ at 500 kPa) and strain sensing (Gauge factor of 140 at 150%). The pressure and stretch sensing module can work without interfering with each other, which is realized by structural design of lower Young’s modulus stretch sensing module and higher thickness and compressibility pressure sensing module. Then WMS is demonstrated in accurate detection of human kinesthesia, human-computer interface, identification of objects of various hardnesses and sizes by robotic gripper, and perception of environmental information through a crawling robot.

能够检测和区分多种机械刺激的可穿戴传感电子设备在医疗保健监测、机器人技术等应用中是很有前途的设备。然而，大多数可穿戴传感器仅用于检测单轴机械刺激，这严重阻碍了它们通常涉及复杂机械的实际应用刺激。在这里，开发了一种翼状多功能传感器（WMS），由中间的压力传感模块和两翼的拉伸传感模块组成，能够通过不同的电信号变化趋势检测和区分压力、拉伸、凸凹弯曲。⁻¹在 500 kPa 时）和应变传感（应变系数在 150% 时为 140）。压力和拉伸传感模块可以互不干扰地工作，这是通过较低杨氏模量拉伸传感模块和较高厚度和可压缩性压力传感模块的结构设计实现的。然后在人体运动的精确检测、人机界面、机器人抓手识别各种硬度和大小的物体、爬行机器人感知环境信息等方面展示了WMS。