Stretchable, Multiplexed, and Bimodal Sensing Electronic Armor for Colonoscopic Continuum Robot Enhanced by Triboelectric Artificial Synapse

摘要

Colonoscopic continuum robots often lack sensing capabilities, risking tissue damage. An ideal robot electronic skin should offer full-body coverage, multiplexing, stretchability, and multifunctionality, but integration is challenging due to the robot's elongated structure. This work presents a stretchable electronic armor (E-armor) with a 3D crosslinked structure that enables 300 mm full coverage while accomplishing multiplexed simultaneous tactile and strain sensing through bioinspired artificial synapse mechanisms. The E-armor integrates 48 tactile sensing points through bilayer co-electrode strategy, reducing wiring while combining triboelectric encoding intelligence with innovative stretchable triboelectric interlinked films (TIFs) to form a triboelectric artificial synapse that generates digitally encoded signal pairs upon contact. A convolutional neural network and long short-term memory network (CNN-LSTM) deep learning framework achieve 99.31% accuracy in identifying multi-point tactile signals. A sodium alginate/polyacrylamide/sodium chloride (SA/PAM/NaCl) conductive hydrogel serves as a strain sensing element, providing excellent stretchability and biocompatibility, and allowing precise inference of bending angles at 12 strain sensing edges. A compliance control strategy coordinates tactile and strain signals to autonomously adjust continuum robot postures while ensuring smooth operation. The digital twin-based 3D visualization interface enhances human-robot interaction by digitally reconstructing both tactile and strain feedback, enabling real-time visualization of the continuum robot's intracolonic posture.