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Zhu et al. Soft Sci 2024;4:17 https://dx.doi.org/10.20517/ss.2024.05 Page 19 of 38

Table 1. Structure, material, mechanism and main characteristic parameters of some classic e-skins
Sensing Material Structure Sensing Sensitivity Sensing range Respond time Durability Ref.
type mechanism [trigger/release]
-1
Pressure* PANI coated rGO on textile substrate Filled-type FCPCs Resistive Sp = 97.28 kPa 0.0005~40 kPa 30/25 ms 11,000 [40]
Pressure CB/TPU Porous filled-type Resistive Sp = 1.55 MPa -1 Max = 584.4 kPa 150/150 ms 10,000 [42]
FCPCs
Pressure CNT-PGS foam Porous filled-type Resistive Sp = 8.00 ± 0.20 kPa -1 0.1~8 kPa ≤ 20 ms 220,000 [45]
FCPCs
-1
Pressure* CNTs/PDMS Interlocked microdome Resistive Sp = 2.21 N 0.1~20 kPa - - [46]
array
-1
Pressure CNTs/PDMS Interlocked microdome Resistive Sp = -15.1 kPa 0.0002~59 kPa ~ 40 ms - [47]
array
-1
Pressure PEDOT on a 3D-printed substrate Interlocked microdome Resistive Sp = 184.82 kPa (< 10 kPa) 0.06~39.2 kPa 0.038/0.045 ms 1,000 [48]
array + nano contacts
-1
Pressure ZnO nanowires array on PDMS substrate Interlocked microdome Resistive Sp = -6.8 kPa Min = 0.0006 kPa < 5 ms 1,000 [49]
array + nano contacts
-1
Pressure* Wrinkle CNTs (humidity sensing part)/PDMS Porous Resistive Sp = 0.537 kPa (< 3 kPa), - 78/62.5 ms 10,000 [50]
-1
on a porous CNT/PDMS substrate (pressure 0.007 kPa (> 3 kPa)
sensing part)
-1
Pressure* CNTs/PDMS-Ni electrodes/resistor array/PI Resistor array + Micro- Resistive Sp = 25.88 kPa Max = 1,400 kPa (large 133/73 ms 2,000 [106]
dielectric/Ni electrodes honeycomb electrodes (large range mode), range mode), 500 kPa
-1
64.68 kPa (high sensitivity mode)
(high sensitivity mode)
-1
Pressure SBS/AgNP coated-kevlar fiber textiles Capacitive fiber textiles Capacitive Sp = 0.21 kPa Max = 3.9 MPa < 10 ms 10,000 [54]
Pressure Ag pyramid array (top electrode)/ATMP- Pyramid array electrode Capacitive Sp = 3,224.2 kPa -1 Max = 100 kPa ~6 ms 200 [56]
PVA hydrogel film (dielectric layer)/Ag + dielectric layer
(bottom electrode)
-1
Pressure PI/interlocked P(VDF-TrFE)/Cu Interlocked pyramid Capacitive Sp = 6.583 kPa Min = 3 Pa 48/36 ms 10,000 [60]
array
-1
Pressure* TPU/MXene/AgNWs-TPU- Two filled-type FCPCs Capacitive Sp = 0.029 kPa 0~70 kPa 260/- ms 2,000 [73]
TPU/MXene/AgNWs sandwiched a dielectric
layer
-1
Pressure* Carbon fabric + CIP/PDMS flagella array + Parallel plate + Capacitive Sp = 0.0124 kPa 0.002~100 kPa ~100/100 ms ~2,000 [103]
carbon fabric unilateral flagella array
-1
Pressure* rGO/PDMS Parallel plate + Capacitive Sp = 0.0513 kPa 0.03~300 kPa 60/54 ms 5,000 [105]
unilateral tilted (0.03 < 6 kPa),
-1
microhair array 0.0079 kPa (6~120 kPa),
-1
0.0009 kPa (120~300 kPa)
-1
Pressure PDMS/PTFE/AgNWs/PDMS TENG Interlocked conical Triboelectric Sp = 127.22 mV·kPa 5~50 kPa - 5,000 [61]
array
-1
Pressure Nylon/PDMS pyramid array/TPU/AgNWs Pyramid array Triboelectric Sp = 9.973 mV·Pa Max > 6 kPa - 1,000 [66]
TENG (0-1.6 kPa),
-1
0.538 mV·Pa (> 1.6 kPa)