The closed-loop HMI system could compliantly interface with human body for teleoperating various robotics with haptic feedback.

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Compact electronic systems that perform rapid, precise mechanical characterization of living biological tissues have important potential uses in monitoring and diagnosing various types of human-health disorders. Active devices that perform high-precision, real-time evaluations of deep tissue structures (millimeter-scale) in a precise, digital and non-invasive fashion could complement capabilities of recentlyreported approaches for sensing tissue biomechanics at super cial depths (typically micrometer-scale).This paper introduces a miniature electromagnetic platform that combines a vibratory actuator with a soft strain-sensing sheet for determining the Young's modulus of soft biological tissues, with speci c focus on skin. Experimental and computational studies establish the operational principles and performance attributes through evaluations of synthetic and biological materials, including human skin at various body locations across healthy subject volunteers. The results demonstrate dynamic monitoring of elastic modulus at characteristic depths between ~1 and ~8 mm, depending on the sensor designs.Arrays of such devices support capabilities in both depth pro ling and spatial mapping. Clinical studies on patients with skin disorders highlight potential for accurate targeting of lesions associated with psoriasis, as examples of practical medical utility.

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a trend. [22-27] Currently, self-powered technologies based on piezoelectric materials [28-32] and triboelectric nanogenerator [33-37] are two typical strategies to convert mechanical energy into electricity. Compared to piezoelectric nanogenerator, triboelectric nanogenerator is more suitable for energy harvesting, as it typically can provide much higher output voltage and current. [38-40] However, reports of using triboelectric nanogenerator for flexible sensors are still much less than those of piezoelectric based ones. [41] The typical method of using triboelectric nanogenerator for stress sensing involves difference of electrical signal output with different contact areas. [35,42,43] Therefore, human motion caused contact separations in the wearable triboelectric nanogenerator can result in electricity output and thus tactile sensing. [35] To better meet Recent advances in thin, soft skin-integrated electronics have brought many opportunities in the wearable technics. A simple platform with the functionality of self-powering for epidermal electronics is reported. These electronics can generate electricity from external mechanical stresses that associates with triboelectric effect, and therefore afford excellent performance in tactile sensing and energy harvesting. Combined advances in materials and mechanics of the skin-integrated electronics with high efficiency energy harvesting techniques, triboelectric nanogenerators (TENGs) in an epidermal format is realized for the first time. The dots-distributed electrode pattern allows these electronics exhibiting excellent flexibility and stretchability, distinguishing a broad range of pressures that are relevant to normal body motions. The electricity output of the epidermal device from simple finger tapping modes can achieve >60 V of voltage and >1 µA of current, which is sufficient to light up 15 small light-emitting diodes. Furthermore, the authors also report a 4 × 4 sensor array based on these TENGs, and demonstrate a skin-like electronics for real-time motion monitoring and tactile mapping.