Customizable Screen-Printed Triboelectric Sensor Tape for Immersive Exoskeleton-Based Virtual Interaction

With the rapid development of human–machine interfaces and teleoperation systems, there is a growing demand for multifunctional sensing solutions that are both cost-effective and easy to deploy. In this study, we present a scalable and low-cost fabrication approach for producing a triboelectric-based angle-sensing tape using screen printing techniques. The sensing tape is integrated into the joint regions of wearable exoskeletons to capture human motion with high precision, enabling real-time interaction in virtual teleoperation scenarios. Experimental results demonstrate an angular sensing accuracy of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\pm 3^{\circ}$</tex>. This work lays a technological foundation for next-generation immersive teleoperation systems and holds promising applications in medical rehabilitation, virtual reality, and advanced human-machine interaction.