To accurately probe the tactile information on soft skin, it is critical for the pressure sensing array to be free of noise and inter-taxel crosstalk, irrespective of the measurement condition. However, on dynamically moving and soft surfaces, which are common conditions for on-skin and robotic applications, obtaining precise measurement without compromising the sensing performance is a significant challenge due to mechanical coupling between the sensors and with the moving surface. In this work, multi-level architectural design of micro-pyramids and trapezoid-shaped mechanical barrier array was implemented to enable accurate spatiotemporal tactile sensing on soft surfaces under dynamic deformations. Trade-off relationship between limit of detection and bending insensitivity was discovered, which was overcome by employing micropores in barrier structures. Finally, in-situ pressure mapping on dynamically moving soft surfaces without signal distortion is demonstrated while human skin and/or soft robots are performing complicated tasks such as reading Braille and handling the artificial organs.

Thermal homeostasis is an essential physiological function for preserving the optimal state of complex organs within the human body. Inspired by this function, here, we introduce an autonomous thermal homeostatic hydrogel that includes infrared wave reflecting and absorbing materials for improved heat trapping at low temperatures, and a porous structure for enhanced evaporative cooling at high temperatures. Moreover, an optimized auxetic pattern was designed as a heat valve to further amplify heat release at high temperatures. This homeostatic hydrogel provides effective bidirectional thermoregulation with deviations of 5.04 °C ± 0.55 °C and 5.85 °C ± 0.46 °C from the normal body temperature of 36.5 °C, when the external temperatures are 5 °C and 50 °C, respectively. The autonomous thermoregulatory characteristics of our hydrogel may provide a simple solution to people suffering from autonomic nervous system disorders and soft robotics that are susceptible to sudden temperature fluctuations.