Multimodal capacitive and piezoresistive sensor for simultaneous measurement of multiple forces

Quantitative information on the magnitudes and directions of multiple contacting forces is crucial for a wide range of applications including human-robot interaction, prosthetics, and bionic hands. Herein we report a highly stretchable sensor integrating capacitive and piezoresistive mechanisms that can simultaneously determine multiple forces. The sensor consists of three layers in a sandwich design. The two facesheets serve as both piezoresistive sensors and electrodes for the capacitive sensor, with the core being a porous structure made by using a simple sugar particle template technique to give them high stretchability. The two facesheets contain segregated conductive networks of silver nanowires (AgNWs) and carbon nanofibers (CNFs). By measuring the changes in the electrical resistance of the facesheets and the capacitance between the facesheets, three separate mechanical stimuli can be determined, including normal pressure, in-plane stretch, and transverse shear force. The newly developed multidirectional sensor offers a significant opportunity for the next generation of wearable sensors for human health monitoring and bionic skin for robots.