Flexible sensors with wide sensing ranges require responsiveness under tiny and large strains. However, the development of strain sensors with wide detection ranges is still a great challenge due to the conflict between the tiny strain requirements of sparse conductive networks and the large strain requirement of dense conductive networks. Herein, we present a facile method for fabricating a gradient conductive network composed of sparse and dense conductive networks. The surface penetration technology in which carbon black (CB) penetrated from the natural rubber latex (NRL) glove surface to the interior was used to fabricate a gradient conductive network. The prolonged immersion time from 1 to 30 min caused the penetration depth of CB to increase from 2 to 80 μm. Moreover, CB formed hierarchical rough micro- and nanoscale structures, creating a superhydrophobic surface. The gradient conductive network of sensors produced an ultrawide detection range of strain (0.05–300%) and excellent reliability and reproducibility. The sensors can detect a wide range of human motions, from tiny (wrist pulse) to large (joint movements) motion monitoring. The flexible sensors attached to a flexible basement can be used to detect pressure in a wide detection range (1.7–2900 kPa). Pressure responsiveness was used to detect the weight, sound pressure, and dripping of tiny droplets. The sensor showed an excellent response to organic solvents, and the response intensity increased with the increasing swelling degree of the solvent for NRL.

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Flexible tactile sensors, with the ability to sense and even discriminate between different mechanical stimuli, can enable real-time and precise monitoring of dexterous and complex robotic motions. However, making them ultrathin and superhydrophobic for practical applications is still a great challenge. Here, superhydrophobic flexible tactile sensors with hierarchical micro- and nanostructures, that is, warped graphene nanosheets adhered to micron-height wrinkled surfaces, were constructed using ultrathin medical tape (40 μm) and graphene. The tactile sensor enables the discrimination of normal and shear forces and senses sliding friction and airflow. Moreover, the tactile sensor exhibits high sensitivity to normal and shear forces, extremely low detection limits (15 Pa for normal forces and 6.4 mN for shear forces), and cyclic robustness. Based on the abovementioned characteristics, the tactile sensor enables real-time and accurate monitoring of the robotic arm’s motions, such as moving, gripping, and lifting, during the process of picking up objects. The superhydrophobicity even allows the sensor to monitor the motions of the robotic arm underwater in real time. Our tactile sensors have potential applications in the fields of intelligent robotics and smart prosthetics.

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