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Vol. 18 (2026)

A Reconfigurable Omnidirectional Triboelectric Whisker Sensor Array for Versatile Human–Machine–Environment Interaction

https://doi.org/10.1007/s40820-025-01930-x
Weichen Wang
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Jiaqi Zhu
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Hongfa Zhao
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Fei Yao
Institute of Biomedical and Health Engineering, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Yuzhu Zhang
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Xiankuan Qian
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Mingrui Shu
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Zhigang Wu
State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, People’s Republic of China
Minyi Xu
Dalian Key Lab of Marine Micro/Nano Energy and Self‑Powered System, Dalian Maritime University, Dalian 116026, People’s Republic of China
Hongya Geng
Institute of Biomedical and Health Engineering, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Wenbo Ding
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China
Juntian Qu
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People’s Republic of China

Corresponding Author: Juntian Qu

juntian.qu@sz.tsinghua.edu.cn

Nano-Micro Letters, Vol. 18 (2026), Article Number: 76

Abstract

Developing effective, versatile, and high-precision sensing interfaces remains a crucial challenge in human–machine–environment interaction applications. Despite progress in interaction-oriented sensing skins, limitations remain in unit-level reconfiguration, multiaxial force and motion sensing, and robust operation across dynamically changing or irregular surfaces. Herein, we develop a reconfigurable omnidirectional triboelectric whisker sensor array (RO-TWSA) comprising multiple sensing units that integrate a triboelectric whisker structure (TWS) with an untethered hydro-sealing vacuum sucker (UHSVS), enabling reversibly portable deployment and omnidirectional perception across diverse surfaces. Using a simple dual-triangular electrode layout paired with MXene/silicone nanocomposite dielectric layer, the sensor unit achieves precise omnidirectional force and motion sensing with a detection threshold as low as 0.024 N and an angular resolution of 5°, while the UHSVS provides reliable and reversible multi-surface anchoring for the sensor units by involving a newly designed hydrogel combining high mechanical robustness and superior water absorption. Extensive experiments demonstrate the effectiveness of RO-TWSA across various interactive scenarios, including teleoperation, tactile diagnostics, and robotic autonomous exploration. Overall, RO-TWSA presents a versatile and high-resolution tactile interface, offering new avenues for intelligent perception and interaction in complex real-world environments.


Highlights:
1 Dual-triangular electrode layout with MXene/silicone nanocomposite achieves quite competitive omnidirectional force detection (threshold: 0.024 N) and angular resolution (5°) using only two electrodes.
2 Based on a newly designed hydrogel combining high mechanical robustness and superior water absorption, the untethered hydro-sealing vacuum sucker can achieve robust and reversible anchoring on diverse surfaces with a compact structure, maintaining a consistently high anchoring force for more than 200 cycles with a single rehydration.
3 The reconfigurable omnidirectional triboelectric whisker sensor array demonstrates exceptional performance in real-world applications, including teleoperation, adjustable robotic arm palpation, and robotic autonomous environmental exploration, validating its potential as a universal interface for dynamic human–machine–environment interactions.

Keywords

Reconfigurable sensor array Interaction interface Tactile perception Omnidirectional sensor Reversible anchoring
Wang, Weichen, Jiaqi Zhu, Hongfa Zhao, Fei Yao, Yuzhu Zhang, Xiankuan Qian, Mingrui Shu, Zhigang Wu, Minyi Xu, Hongya Geng, Wenbo Ding, and Juntian Qu. 2025. “A Reconfigurable Omnidirectional Triboelectric Whisker Sensor Array for Versatile Human–Machine–Environment Interaction”. Nano-Micro Letters 18 (October):76. https://doi.org/10.1007/s40820-025-01930-x.
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