3D Anisotropic Tactile Sensors for Normal and Shear Force Discrimination

We reported a novel 3D flexible tactile sensor via utilizing 1D order wrinkling of 2D materials in 2Dmaterials/intermediate-multifunctional layer/substrate trilayer systems. By employing the 1D ordered wrinkle patterns of 2D materials, an ultra-fast responsive 3D anisotropic tactile sensor is presented to effectively realize the normal and shear force discrimination. The discrimination mechanism is that 1D ordered wrinkled structures of 2D materials work as anisotropic sensitive elements, which is the key for the anisotropic tactile sensing functionality of the sensors.