A flexible pressure sensor with high performances is one of the promising candidates for achieving electronic skins (E‐skin) related to various applications such as wearable devices, health monitoring systems, and artificial robot arms. The sensitive response for external mechanical stimulation is fundamentally required to develop the E‐skin which imitates the function of human skin. The performance of capacitive pressure sensors can be improved using morphologies and structures occurring in nature. In this work, highly sensitive capacitive pressure sensors based on a porous structure of polydimethylsiloxane (PDMS) thin film, inspired on the natural multilayered porous structures seen in mushrooms, diatoms, and spongia offilinalis, have been developed and evaluated. A bioinspired porous dielectric layer is used, resulting in high‐performance pressure sensors with high sensitivity (0.63 kPa−1), high stability over 10 000 cycles, fast response and relaxation times, and extremely low‐pressure detection of 2.42 Pa. Additionally, the resulting pressure sensors are demonstrated to fabricate multipixel arrays, thus achieving successful real‐time tactile sensing of various touch shapes. The developed high‐performance flexible pressure sensors may open new opportunities for innovative applications in advanced human‐machine interface systems, robotic sensory systems, and various wearable health monitoring devices.

Wireless soft-bodied robots at the millimeter scale allow traversing very confined unstructured terrains with minimal invasion and safely interacting with the surrounding environment. However, existing untethered soft millirobots still lack the ability of climbing, reversible controlled surface adhesion, and long-term retention on unstructured three-dimensional (3D) surfaces, limiting their use in biomedical and environmental applications. Here, we report a fundamental peeling-and-loading mechanism to allow untethered soft-bodied robots to climb 3D surfaces by using both the soft-body deformation and whole-body motion of the robot under external magnetic fields. This generic mechanism is implemented with different adhesive robot footpad designs, allowing vertical and inverted surface climbing on diverse 3D surfaces with complex geometries and different surface properties. With the unique robot footpad designs that integrate microstructured adhesives and tough bioadhesives, the soft climbing robot could achieve controllable adhesion and friction to climb 3D soft and wet surfaces including porcine tissues, which paves the way for future environmental inspection and minimally invasive medicine applications.

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To date, a handful of different gecko-like adhesives inspired by spatula-shaped attachment hairs have been suggested based on wedge and flap geometry of contact elements. However, while these surface designs have been shown to have directionality in adhesion, high friction, long lifetime and the ability to work in vacuum, an experimental verification of the very basic concept of the pulling angle effect has not yet been reported. To close this gap, here we use wall-shaped adhesive microstructures of three different flap heights to systematically study the effect of pulling angle on the normal and tangential components of the pull-off force tested at different preliminary tangential displacements. In accord with the prediction of the Kendall model for the normal component of peeling force, there is an optimal normal force that is required to detach the wall-shaped adhesive microstructure. The optimum is obtained at about half the distance needed to initiate sliding and at pulling angles that range within 60-90°, which suggests that the wall-shaped microstructure can tolerate relatively large inaccuracies in the loading direction. The increase of the attachment force with increasing flap height is found to correlate with the flap thickness, which decreased with increasing flap height.

Splitting a large contact area into finer, sub-contact areas is thought to result in higher adaptability to rough surfaces, stronger adhesion, and a more uniform stress distribution with higher tolerance to defects. However, while it is widely believed that contact splitting helps to mitigate the negative effects of roughness on adhesion- and friction-based attachment, no decisive experimental validation of this hypothesis has been performed so far for thin-film-based adhesives. To this end, we report on the behavior of original and split, wall-shaped adhesive microstructures on different surfaces ranging across four orders of magnitude in roughness. Our results clearly demonstrate that the adhesion- and friction-driven attachment of the wall-shaped microstructure degrades, regardless of the surface waviness, when the surface roughness increases. Second, splitting the wall-shaped microstructure indeed helps to mitigate the negative effect of the increasing surface unevenness by allowing the split microstructure to adapt more easily to the surface waviness and by reducing the effective average peeling angle. These findings can be used to guide the development of biomimetic shear-actuated adhesives suitable for operation not only on smooth but also on rough surfaces.