“…Similar to the human skin, tactile sensors play the important roles of discerning environmental conditions for robots. − Robotic tactile sensors mainly detect related parameters generated by direct contact with the external environment, including contact force, − strain, − humidity, , temperature, , and so on. In recent years, with the rapid advances in materials science and device fabrication technologies, higher requirements of the tactile sensing system are put forward, including multimodal sensing, , device miniaturization, large sensing range, high sensitivity, and flexibility.…”