“…Piezoelectric materials have received considerable attention in the field of sensing [ 1 , 2 , 3 ] and energy harvesting [ 4 , 5 , 6 ] because of their flexibility, fast response speeds, as well as the properties of generating internal electric potential from mechanical deformation [ 7 , 8 ]. In particular, the electromechanical effect of these materials makes it possible to detect physical stimuli without external power, so many researchers have studied various sensors, such as force and strain sensors, using this mechanism [ 9 , 10 , 11 , 12 ]. Among these, force sensors have become more important with the development of advanced robots, such as soft robots, humanoid robots, and medical robots [ 13 , 14 , 15 , 16 , 17 , 18 ].…”