Intuitive-augmented human-machine multidimensional nano-manipulation terminal using triboelectric stretchable strip sensors based on minimalist design

Sensors based on triboelectric nanogenerators have been widely used for energy harvesting and sensing applications, however, the applications of multidimensional information perception and interactive control are insufficient. In this paper, we present an ultra-stretchable triboelectric strip sensor (TSS) using triboelectric mechanism for controlling the objects in three-dimensional space. This facile and low-cost TSS is mainly composed of a parallel structure including three symmetric sensor strips fixed on the base and a mobile stage connected with them. Based on the coupling effect of triboelectrification and electrostatic induction, the length changes of each strip with the same finger contacting point generate different signal output ratios from two terminal electrodes, functioning as the interactive interface for multi-dimensional sensing and controlling. Hence, the parallel sensor strips structure can realize the sensing and controlling in three degrees of freedom of linear motion and two degrees of freedom of rotational motion, and resultant sensing ranges are X, Y, Z, alpha and beta (20 mm, 20 mm, 30 mm, 36 degrees, and 36 degrees). In terms of manipulation, this is simpler than the conventional controller with rigid structure and includes additional space dimensions. Furthermore, demonstration of the TSS as human-nanomachine terminal to control the nanomanipulator in scanning electron microscope (SEM) is successfully realized with the accuracy of 10 nm. The proposed TSS shows great potential for the applications in automated control, robotics control, and Internet of Things (IoT).