A flexible proximity-pressure–temperature tri-mode robotic sensor with stimulus discriminability, high sensitivity and wide perception range

• A strategy to realize tri-sensing functions of monolithic layer is proposed. • The working principle of tri-mode sensor based on monolithic layer is elaborated. • The non-inferential multifunctionality of sensor in robotic hand is substantiated. Along with the explosive utilization of intelligent and bionic robotics, the rise of somatosensory system with excellent flexibility and multiple biological sensing characteristic emerges as a substantial crux of this domain. Herein, we propose a flexible high-performance multi-mode sensor for real-time proximity–pressure–temperature perception based on a monolithic sensing unit with fingerprint-like hierarchical architecture. The monolithic sensing unit, primarily constituted by a double-permeable ionic liquids/Multi-walled nanotubes conductive network, demonstrates dual-functionality in detecting pressure and temperature. Making use of the further synergy of rational topographical architecture engineering and feasible decoupling algorithm construction, extraordinary progress in sensing performances for both pressure and temperature are attained with negligible mutual interferences. Additionally, the sensor is capable of switching to touchless mode to detect objects at distance up to 200 mm, validating its remarkable proximity sensing ability. The multifunctional nature of sensor is further substantiated through its integration with a robotic hand, highlighting its practical applicability in advanced robotic systems.