All-foam intrinsic triboelectric static and dynamic pressure sensor with a standardized DC/AC measurement method for industrial robots

Self-powered pressure sensors are essential for robotics, enabling real-time force perception and adaptive interaction. However, most triboelectric pressure sensors focus on dynamic sensing, while static measurement remains challenging due to the lack of standardized methods. Here, we introduce an all-foam triboelectric nanogenerator (AF-TENG) as a lightweight, flexible, and highly compressible self-powered sensor. It enables the detection of both static and dynamic pressures for industrial robotic applications. We propose a dual-mode measurement strategy using an electrometer and an oscilloscope in DC/AC modes, allowing precise differentiation between static electrostatic potential (DC mode) and transient dynamic pressure signals (AC mode). The AF-TENG exhibits a high static pressure sensitivity of 1.48 V·kPa⁻¹ below 6.3 kPa and 0.22 V·kPa⁻¹ above 6.3 kPa, with fast response/recovery times of 251 ms/416 ms. For dynamic pressure sensing, it achieves sensitivities of 10.09 V·kPa⁻¹ below 5.6 kPa and 1.89 V·kPa⁻¹ above 5.6 kPa. These capabilities enable precise object classification, collision detection, and adaptive force control in industrial robots. This work pioneers an all-foam TENG for self-powered sensing and establishes a standardized measurement methodology, advancing triboelectric-based pressure sensing technologies.