Soft 3D Lattice Iontronic Tactile Sensor

ABSTRACT Designing soft electronic skins for tactile sensing facilitates natural human–machine communications. However, the nonlinear characteristics of electrical transductions and mechanics usually compromise precise tactile decoding and compliant interactions. In this work, we demonstrate a soft 3D‐architectured pressure sensor featuring a PEDOT:PSS‐PVA hydrogel lattice encapsulated within an origami‐inspired elastomeric framework. Our 3D lattice sensor leverages the ultracapacitive principle to achieve wide‐range linearity (0–220 kPa), fast responses, and high‐resolution detection under extreme loading. The proposed 3D configuration also enables linear compression behaviors within ∼49.5% strain without sacrificing tissue‐like compliance ( E = 127–404 kPa). Using this sensor as human–machine interfaces (HMIs), we facilitate accurate, timely, and stable pressure input for diverse signal waveforms in robotic teleoperation, as well as a deformable, intelligent fingertip for safely detecting soft tissue modulus. Our design provides a promising route to decode sophisticated tactile interactions by linearizing both electrical responses and mechanical behaviors.