Bicontinuous Rubbery Semiconductors Enable Intrinsically Stretchable Transistors for Ultrasensitive Tactile Electronic Skins

Abstract

Developing high-performance elastic tactile sensing systems is crucial for prosthetic skins, soft robotics, and human–machine interfaces, yet integrating ultrahigh sensitivity, fast response, and robust mechanical compliance remains a fundamental challenge. Herein, we report an intrinsically stretchable elastic electronic skin enabled by rubbery transistors based on a self-assembled bicontinuous rubbery semiconductor. The bicontinuous morphology provides continuous semiconducting pathways for charge transport while accommodating mechanical deformation, allowing the transistors to retain high mobility even under 50% tensile strain. By coupling tactile-modulated iontronic effects with air-gap capacitance modulation, the elastic tactile sensors achieve an ultrahigh sensitivity of 4358 kPa–1, rapid response, and reliable detection of subtle tactile signals. Integrating a 5 × 5 tactile sensor array with a convolutional neural network enables accurate tactile recognition and correction of tactile inputs even under mechanical deformation. These results establish bicontinuous rubbery semiconductors as a materials-driven platform for intrinsically stretchable, ultrahigh-sensitivity tactile electronic skins.