System-integrated intrinsic static-dynamic pressure sensing enabled by charge excitation and 3D gradient engineering for autonomous robotic interaction

High-resolution pressure sensing that distinguishes static and dynamic inputs is vital for intelligent robotics but remains challenging for self-powered sensors. We present a self-powered intrinsic static-dynamic pressure sensor (iSD Sensor) that integrates charge excitation with a 3D gradient-engineered structure, achieving enhanced voltage outputs-over 25X for static and 15X for dynamic modes. The sensor exhibits multi-region sensitivities (up to 34.7 V/kPa static, 48.4 V/kPa dynamic), a low detection limit of 6.13 Pa, and rapid response/recovery times (83/43 ms). This design enables nuanced tactile perception and supports dual-mode robotic control: proportional actuation via static signals and fast triggering via dynamic inputs. Integrated into a wireless closed-loop system, the iSD Sensor enables precise functions such as finger bending, object grasping, and sign language output.