The lack of high-performance tactile sensors, especially for pressure/force, is a huge obstacle for the widespread application of intelligent robots. Current pressure sensors are often operated in the high range of pressure and normal direction, showing a little ability in the low range of pressure and three-axis direction simultaneously. Herein, a highly sensitive flexible tactile sensor with three-axis force sensing capacity is presented by combining microstructured polydimethylsiloxane (PDMS) arrays and a reduced graphene oxide (rGO) film. The deformation of microstructured rGO/PDMS results in a change in the contact area between the rGO film and electrode, leading to a high sensitivity of -1.71 kPa-1 in the low range pressure of 0-225 Pa with a fast response time of 6 ms at a large feature size of 100 μm. To realize three-axis sensing, a sensing unit was built up, which was composed of the adjacent four parts of patterns and electrodes underneath a bump. A mechanical model of the exerted spatial force was established to calculate each axis force component via the deformation of the rGO/PDMS pattern. The experimental results show that the current difference between the adjacent two parts has a strong relationship with the applied force. As a proof of concept, we have demonstrated a 3 × 3 array sensor for arbitrary force sensing. Our tactile sensor would be used in transmitting information from a gentle spatial force and would exhibit broad applications as e-skin in integrated robots.

The type of host tissues and cells ingested by piercing and sucking insects greatly affects their nutrient intake, which may subsequently affect insect fitness. This study describes the sex differences in feeding site selection between male and female nymphs of the Chinese white wax scale insect (CWWS), Ericerus pela (Chavannes), feeding on leaves of the Chinese privet, Ligustrum lucidum. Our data showed that the stylet tips of female nymphs terminated in the phloem sieve elements of main or lateral veins, while those of male nymphs terminated in the palisade parenchyma. We concluded that female nymphs fed from sieve elements and males fed from parenchyma cells. The potential impact of these feeding patterns was discussed in relation to the selection of a site for attachment, nutrient acquisition, and mouthpart stretching mechanism. Among these factors, selection of a site for attachment and mouthpart stretching mechanism may be the main cause of sex differences in feeding sites between female and male nymphs of CWWS.