“… 32 , 33 , 34 , 35 , 36 , 37 , 38 In fact, TENG-based sensors have been widely used in wearable devices. 39 , 40 , 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 In the field of soft robots, they are attracting more and more attention and many structures have been proposed in recent years. 49 , 50 , 51 By integrating a TENG on different parts of the soft robot, e.g., front, 52 bottom, 53 or even the chamber, 13 electrical outputs can be generated from a single stimulus input, thus realizing the function of detecting obstacle, 52 location, 54 , 55 curvature, 49 or even humidity.…”