• Abraira V.E.
• Ginty D.D.

The sensory neurons of touch.

Neuron. 2013; 79: 618-639

• Handler A.
• Ginty D.D.

The mechanosensory neurons of touch and their mechanisms of activation.

Nat. Rev. Neurosci. 2021; 22: 521-537

• Carpenter C.W.
• et al.

Human ability to discriminate surface chemistry by touch.

Mater. Horiz. 2018; 5: 70-77

• Wu Y.Z.
• et al.

A skin-inspired tactile sensor for smart prosthetics.

Sci. Robot. 2018; 3eaat0429

• Dahiya R.S.
• et al.

Tactile sensing—from humans to humanoids.

IEEE Trans. Robot. 2010; 26: 1-20

• Yang T.
• et al.

Recent advances in wearable tactile sensors: materials, sensing mechanisms, and device performance.

Mater. Sci. Eng. R Reports. 2017; 115: 1-37

• Dahiya R.S.
• et al.

Directions toward effective utilization of tactile skin: a review.

IEEE Sensors J. 2013; 13: 4121-4138

• Cai Y.W.
• et al.

A flexible ultra-sensitive triboelectric tactile sensor of wrinkled PDMS/MXene composite films for e-skin.

Nano Energy. 2021; 81105663

• Ge C.Y.
• et al.

A capacitive and piezoresistive hybrid sensor for long-distance proximity and wide-range force detection in human-robot collaboration.

Adv. Intell. Syst. 2022; 42100213

• Trejos A.L.
• et al.

Robot-assisted tactile sensing for minimally invasive tumor localization.

Int. J. Robot. Res. 2009; 28: 1118-1133

• Kim Y.
• et al.

A bioinspired flexible organic artificial afferent nerve.

Science. 2018; 360: 998-1003

• Liu Z.
• et al.

Flexible and stretchable dual mode nanogenerator for rehabilitation monitoring and information interaction.

J. Mater. Chem. B. 2020; 8: 3647-3654

• Yang W.T.
• et al.

Multifunctional soft robotic finger based on a nanoscale flexible temperature-pressure tactile sensor for material recognition.

ACS Appl. Mater. Interfaces. 2021; 13: 55756-55765

• Hamaguchi S.
• et al.

Soft inductive tactile sensor using flow-channel enclosing liquid metal.

IEEE Robot. Autom. Lett. 2020; 5: 4028-4034

• Chou H.H.
• et al.

A chameleon-inspired stretchable electronic skin with interactive colour changing controlled by tactile sensing.

Nat. Commun. 2015; 6: 8011

• Zhu M.L.
• et al.

Making use of nanoenergy from human – nanogenerator and self-powered sensor enabled sustainable wireless IoT sensory systems.

Nano Today. 2021; 36101016

• Zhang Z.X.
• et al.

Highly transparent, self-healable, and adhesive organogels for bio-inspired intelligent ionic skins.

ACS Appl. Mater. Interfaces. 2020; 12: 15657-15666

• Massari L.
• et al.

Functional mimicry of Ruffini receptors with fibre Bragg gratings and deep neural networks enables a bio-inspired large-area tactile-sensitive skin.

Nat. Mach. Intell. 2022; 4: 425-435

• Ouyang H.
• et al.

Symbiotic cardiac pacemaker.

Nat. Commun. 2019; 10: 1821

• Ge J.
• et al.

A bimodal soft electronic skin for tactile and touchless interaction in real time.

Nat. Commun. 2019; 10: 4405

• Wang Y.Q.
• et al.

Sequential in-situ route to synthesize novel composite hydrogels with excellent mechanical, conductive, and magnetic responsive properties.

Mater. Des. 2020; 193108759

• Jack R.E.
• et al.

Facial expressions of emotion are not culturally universal.

Proc. Natl. Acad. Sci. U. S. A. 2012; 109: 7241-7244

• Jiang C.P.
• et al.

Finger-skin-inspired flexible optical sensor for force sensing and slip detection in robotic grasping.

Adv. Mater. Technol. 2021; 62100285

• Pang Y.K.
• et al.

Skin-inspired textile-based tactile sensors enable multifunctional sensing of wearables and soft robots.

Nano Energy. 2022; 96107137

• Farajian M.
• et al.

Stretching the skin immediately enhances perceived stiffness and gradually enhances the predictive control of grip force.

eLife. 2020; 9e52653

• Yeo W.H.
• et al.

Multifunctional epidermal electronics printed directly onto the skin.

Adv. Mater. 2013; 25: 2773-2778

• Wang L.
• et al.

Structure and mechanogating of the mammalian tactile channel PIEZO2.

Nature. 2019; 573: 225-229

• Liu F.
• et al.

Neuro-inspired electronic skin for robots.

Sci. Robot. 2022; 7eabl7344

• Sharma N.
• et al.

The emergence of transcriptional identity in somatosensory neurons.

Nature. 2020; 577: 392-398

• Zheng Y.
• et al.

Deep sequencing of somatosensory neurons reveals molecular determinants of intrinsic physiological properties.

Neuron. 2019; 103: 598-616.e7

• Woo S.H.
• et al.

Piezo2 is required for Merkel-cell mechanotransduction.

Nature. 2014; 509: 622-626

• Talbot W.H.
• et al.

The sense of flutter-vibration: comparison of the human capacity with response patterns of mechanoreceptive afferents from the monkey hand.

J. Neurophysiol. 1968; 31: 301-334

• Neubarth N.L.
• et al.

Meissner corpuscles and their spatially intermingled afferents underlie gentle touch perception.

Science. 2020; 368eabb2751

• Johnson K.O.
• et al.

Tactile functions of mechanoreceptive afferents innervating the hand.

J. Clin. Neurophysiol. 2000; 17: 539-558

• Tan P.C.
• et al.

Self-powered gesture recognition wristband enabled by machine learning for full keyboard and multicommand input.

Adv. Mater. 2022; 34e2200793

• Zhao S.
• Ahn J.-H.

Rational design of high-performance wearable tactile sensors utilizing bioinspired structures/functions, natural biopolymers, and biomimetic strategies.

Mater. Sci. Eng. R Reports. 2022; 148100672

• Lee G.
• et al.

Fingerpad-inspired multimodal electronic skin for material discrimination and texture recognition.

Adv. Sci. (Weinh). 2021; 82002606

• Park J.
• et al.

Tactile-direction-sensitive and stretchable electronic skins based on human-skin-inspired interlocked microstructures.

ACS Nano. 2014; 8: 12020-12029

• Park J.
• et al.

Tailoring force sensitivity and selectivity by microstructure engineering of multidirectional electronic skins.

NPG Asia Mater. 2018; 10: 163-176

• Ji B.
• et al.

Bio-inspired hybrid dielectric for capacitive and triboelectric tactile sensors with high sensitivity and ultrawide linearity range.

Adv. Mater. 2021; 33e2100859

• Niu H.
• et al.

Perception-to-cognition tactile sensing based on artificial-intelligence-motivated human full-skin bionic electronic skin.

Adv. Mater. 2022; 34e2202622

• Ha M.
• et al.

Skin-inspired hierarchical polymer architectures with gradient stiffness for spacer-free, ultrathin, and highly sensitive triboelectric sensors.

ACS Nano. 2018; 12: 3964-3974

• Chun S.
• et al.

An artificial neural tactile sensing system.

Nat. Electron. 2021; 4: 429-438

• Chun S.
• et al.

Self-powered pressure- and vibration-sensitive tactile sensors for learning technique-based neural finger skin.

Nano Lett. 2019; 19: 3305-3312

• Yan Y.C.
• et al.

Soft magnetic skin for super-resolution tactile sensing with force self-decoupling.

Sci. Robot. 2021; 6eabc8801

• Ovchinnikov Y.A.

Physico-chemical basis of ion transport through biological membranes: ionophores and ion channels.

Eur. J. Biochem. 1979; 94: 321-336

Merkel cells are a touchy subject.

Cell. 2014; 157: 531-533

• Kenry
• et al.

Highly flexible graphene oxide nanosuspension liquid-based microfluidic tactile sensor.

Small. 2016; 12: 1593-1604

• Loo J.F.C.
• et al.

Integrated printed microfluidic biosensors.

Trends Biotechnol. 2019; 37: 1104-1120

• Jin M.L.
• et al.

An ultrasensitive, visco-poroelastic artificial mechanotransducer skin inspired by Piezo2 protein in mammalian Merkel cells.

Adv. Mater. 2017; 291605973

• Chun K.Y.
• et al.

A self-powered sensor mimicking slow- and fast-adapting cutaneous mechanoreceptors.

Adv. Mater. 2018; 30e1706299

• Chen Y.H.
• et al.

Piezotronic graphene artificial sensory synapse.

Adv. Funct. Mater. 2019; 291900959

• Park H.L.
• et al.

Flexible neuromorphic electronics for computing, soft robotics, and neuroprosthetics.

Adv. Mater. 2020; 32e1903558

• Gkoupidenis P.
• et al.

Neuromorphic functions in PEDOT:PSS organic electrochemical transistors.

Adv. Mater. 2015; 27: 7176-7180

• Zhang X.M.
• et al.

An artificial spiking afferent nerve based on Mott memristors for neurorobotics.

Nat. Commun. 2020; 11: 51

• Nagi S.S.
• et al.

An ultrafast system for signaling mechanical pain in human skin.

Sci. Adv. 2019; 5eaaw1297

• Kwon S.M.
• et al.

Large-area pixelized optoelectronic neuromorphic devices with multispectral light-modulated bidirectional synaptic circuits.

Adv. Mater. 2021; 33e2105017

• Sundaram S.
• et al.

Learning the signatures of the human grasp using a scalable tactile glove.

Nature. 2019; 569: 698-702

• Chen C.
• et al.

A self-healing and ionic liquid affiliative polyurethane toward a piezo 2 protein inspired ionic skin.

Adv. Funct. Mater. 2022; 322106341

• Jiang Y.
• et al.

Auxetic mechanical metamaterials to enhance sensitivity of stretchable strain sensors.

Adv. Mater. 2018; 30e1706589

• Zhu M.
• et al.

Technologies toward next generation human machine interfaces: from machine learning enhanced tactile sensing to neuromorphic sensory systems.

Appl. Phys. Rev. 2020; 7031305

• Wan C.J.
• et al.

An artificial sensory neuron with tactile perceptual learning.

Adv. Mater. 2018; 30e1801291

• Osborn L.E.
• et al.

Prosthesis with neuromorphic multilayered e-dermis perceives touch and pain.

Sci. Robot. 2018; 3aat3818

• Chortos A.
• et al.

Pursuing prosthetic electronic skin.

Nat. Mater. 2016; 15: 937-950

• Bhattacharjee T.
• et al.

Inferring object properties with a tactile-sensing array given varying joint stiffness and velocity.

Int. J. Humanoid Robot. 2018; 15: 1750024

• Wen F.
• et al.

Machine learning glove using self-powered conductive superhydrophobic triboelectric textile for gesture recognition in VR/AR applications.

Adv. Sci. 2020; 72000261

• Liu X.Y.
• et al.

Design of virtual guiding tasks with haptic feedback for assessing the wrist motor function of patients with upper motor neuron lesions.

IEEE Trans. Neural Syst. Rehabil. Eng. 2019; 27: 984-994

• Huo H.Q.
• et al.

Design of robot-assisted task involving visuomotor conflict for identification of proprioceptive acuity.

IEEE Trans. Instrum. Meas. 2021; 704006310

Nature and functions of the papillary ridges of the digital skin.

Anat. Rec. 1954; 119: 449-468

• Gerstner W.

Coding properties of spiking neurons: reverse and cross-correlations.

Neural Netw. 2001; 14: 599-610

• Hodgkin A.L.
• Huxley A.F.

A quantitative description of membrane current and its application to conduction and excitation in nerve.

J. Physiol. 1952; 117: 500-544

• Izhikevich E.M.

Simple model of spiking neurons.

IEEE Trans. Neural Netw. 2003; 14: 1569-1572

• Yi W.
• et al.

Biological plausibility and stochasticity in scalable VO₂ active memristor neurons.

Nat. Commun. 2018; 9: 4661

• Tseng A.C.
• Sakata T.

Direct electrochemical signaling in organic electrochemical transistors comprising high-conductivity double-network hydrogels.

ACS Appl. Mater. Interfaces. 2022; 14: 24729-24740

• Zhang S.
• et al.

The self-powered artificial synapse mechanotactile sensing system by integrating triboelectric plasma and gas-ionic-gated graphene transistor.

Nano Energy. 2022; 91106660

• Keser S.
• Hayber S.E.

Fiber optic tactile sensor for surface roughness recognition by machine learning algorithms.

Sensors Actuators A Phys. 2021; 332113071

• Yi Z.K.
• et al.

Tactile surface roughness categorization with multineuron spike train distance.

IEEE Trans. Autom. Sci. Eng. 2021; 18: 1835-1845

• Qu X.C.
• et al.

Artificial tactile perception smart finger for material identification based on triboelectric sensing.

Sci. Adv. 2022; 8eabq2521

• Sagdic K.
• et al.

Smart materials: rational design in biosystems via artificial intelligence.

Trends Biotechnol. 2022; 40: 987-1003

• Lee K.
• et al.

Artificially intelligent tactile ferroelectric skin.

Adv. Sci. 2020; 72001662

• Li F.
• et al.

A skin-inspired artificial mechanoreceptor for tactile enhancement and integration.

ACS Nano. 2021; 15: 16422-16431

• Taherkhani A.
• et al.

A review of learning in biologically plausible spiking neural networks.

Neural Netw. 2020; 122: 253-272

• Pickett M.D.
• Williams R.S.

Sub-100 fJ and sub-nanosecond thermally driven threshold switching in niobium oxide crosspoint nanodevices.

Nanotechnology. 2012; 23215202

• Chambers M.R.
• et al.

Structure and function of slowly adapting type II mechanoreceptor in hairy skin.

Q. J. Exp. Physiol. Cognate Med. Sci. 1972; 57: 417-445

• Nikolaev Y.A.
• et al.

Lamellar cells in Pacinian and Meissner corpuscles are touch sensors.

Sci. Adv. 2020; 6eabe6393

• Coste B.
• et al.

Piezo1 and Piezo2 are essential components of distinct mechanically activated cation channels.

Science. 2010; 330: 55-60

• Wu J.
• et al.

Touch, tension, and transduction – the function and regulation of piezo ion channels.

Trends Biochem. Sci. 2017; 42: 57-71

• Murthy S.E.
• et al.

The mechanosensitive ion channel Piezo2 mediates sensitivity to mechanical pain in mice.

Sci. Transl. Med. 2018; 10eaat9897

• Woo S.H.
• et al.

Piezo2 is the principal mechanotransduction channel for proprioception.

Nat. Neurosci. 2015; 18: 1756-1762