Leaf-Stomata-Inspired 3D Suspended Ultrasensitive E-Skin for Dual-Modal Tactile and Nociceptive Sensing in Robotics

Artificial sensory systems with synergistic tactile and nociceptive perception are essential for advanced human–robot interaction and environmental monitoring. However, developing scalable, tunable electronic skin (e-skin) that combines ultrasensitive tactile and nociceptive sensing remains challenging. Here, inspired by leaf stomata, we present a suspended biomimetic e-skin enabling 3D deformation–mechanical contact interactions for adjustable sensing. By integrating Langmuir–Blodgett assembly with a mechanical strategy, we achieve large-scale, precise alignment of metal nanowires and controlled crack formation, resulting in ultrahigh sensitivity (205.08 kPa –1 ) and excellent cyclic stability (120 000 cycles). Leveraging its dual-modal sensing mechanism, the e-skin is incorporated into a robotic tactile system, enabling non-destructive grasping of soft objects and real-time avoidance of sharp objects under closed-loop control. This simple, scalable approach provides a versatile platform for ultrasensitive, adaptive e-skin, advancing robotic tactile and nociceptive perception and promoting intelligent human–robot interaction.