An Electromechanical Power Law in Sustainable Thermally Drawn Triboelectric Nanocomposite Fibers for Sensing in Continuum Robots

) under cyclic mechanical excitation. Beyond performance gains, the extracted force-dependent power law provides a transferable framework to benchmark and compare soft TENG fibers across loading conditions, addressing a major gap in standardized sensitivity metrics. Moreover, the resulting devices demonstrate long-term durability (>16,000 cycles) and exceptional sensitivity in robotic tactile and continuum actuation systems. Integration of the fibers into continuum robotic platforms enabled self-powered tactile sensing and rapid collision detection in free-space and in-pipe scenarios, achieving response times under 25 ms. This study establishes a physics-based framework for soft triboelectric systems, merging sustainable nanomaterials, scalable fiber processing, and universal electromechanical laws, paving the way toward self-powered, ecoconscious robotic and wearable interfaces.