Voltage Response Research Articles

Ion‐Selective Mobility Differential Amplifier: Enhancing Pressure‐Induced Voltage Response in Hydrogels

Piezoionics is an emerging mechanical‐electrical energy conversion paradigm that enables self‐powered sensing systems for next‐generation intelligent wearable electronics. However, there are currently no rational design approaches to enhance the stimulus response of piezoionic devices. Here, we present a strategy using crown ether as ion‐selective mobility differential amplifiers for enhancing the pressured‐induced voltage response in ionic polyvinyl alcohol (PVA) hydrogels. The crown ether grafted PVA (PVA‐CE) hydrogel prototype achieves a 30‐fold amplified piezoionic coefficient of 1490 nV Pa−1 within 0 – 1 kPa, compared to 49 nV Pa−1 of the unmodified PVA. The PVA‐CE exhibits an ultra‐low pressure detection limit of 0.2 Pa with a fast response time of 18.1 ms. Leveraging these properties, we further demonstrate a human somatosensory network analogous PVA‐CE piezoionic skin using arrayed pressure sensing. These capabilities hold great promise for emerging healthcare applications such as synthetic biology, soft robotics, and beyond.

Ion-Selective Mobility Differential Amplifier: Enhancing Pressure-Induced Voltage Response in Hydrogels.

Piezoionics is an emerging mechanical-electrical energy conversion paradigm that enables self-powered sensing systems for next-generation intelligent wearable electronics. However, there are currently no rational design approaches to enhance the stimulus response of piezoionic devices. Here, we present a strategy using crown ether as ion-selective mobility differential amplifiers for enhancing the pressured-induced voltage response in ionic polyvinyl alcohol (PVA) hydrogels. The crown ether grafted PVA (PVA-CE) hydrogel prototype achieves a 30-fold amplified piezoionic coefficient of 1490 nV Pa-1 within 0 - 1 kPa, compared to 49 nV Pa-1 of the unmodified PVA. The PVA-CE exhibits an ultra-low pressure detection limit of 0.2 Pa with a fast response time of 18.1 ms. Leveraging these properties, we further demonstrate a human somatosensory network analogous PVA-CE piezoionic skin using arrayed pressure sensing. These capabilities hold great promise for emerging healthcare applications such as synthetic biology, soft robotics, and beyond.

Density Modulated Vertical Carbon Nanotube Architectures with Bolometric Effect

Novel density‐modulated carbon nanotube (CNT) blocks with controlled and tunable CNT densities in adjacent layers have been developed. Regions with varying densities are laterally patterned into different shapes with submicron resolution, enhancing the fabrication flexibility of new 3D nanoelectromechanical systems for diverse sensing applications. This technology platform adjusts lateral electrical resistance, mechanical properties such as effective Young's modulus, and both lateral and vertical thermal conductivity, which can vary by several orders of magnitude. Highlighting its potential, the CNTs exhibit broadband blackbody absorption from ultraviolet (UV) to terahertz (THz). The initial bolometric detector demonstrates features such as a voltage responsivity = 20.5 V W−1, a response time of less than 0.1 ms, measured robust operation up to 200 °C, with fabricated device dimensions of 20 × 30 μm2, and a low‐cost design suitable for mass production. Further optimizations of the lateral design can reduce the device dimensions to as small as 5 × 5 μm2 and improve the absorption in the main resistance region. Thus, this architecture provides a platform technology to increase the responsivity of the fabricated new 3D‐based bolometer devices by several orders of magnitude. Tiny objects such as biological cells can be characterized in real time.

Longitudinal (α33) and transverse(α31) dynamic magnetoelectric hysteretic response for CoFe1.88Dy0.12O4–K0.5Na0.5NbO3 lead-free multiferroic laminates

The magnetoelectric (ME) laminate structures of CoFe1.88Dy0.12O4 (CFDO, Ferrite) and K0.50Na0.50NbO3 (KNN, ferroelectric/piezoelectric) phases were fabricated by silver epoxy bonding technique and tested the ME response in longitudinal and transverse mode. The CFDO reveals the cubic spinel structure while KNN reveals the perovskite orthorhombic crystal structures having dense microstructure. The CFDO confirms the phase segregation of the DyFeO3ortho-ferrite phase, while the KNN lead-free ceramic showed the Curie temperature of 416 °C, 13µC/cm2 maximum polarization, 25,296 × 10-15 m2/N figure of merit, piezoelectric charge coefficient d33 of 47 pC/N. The longitudinal (α33) and transverse (α31) dynamic magnetoelectric response is studied to figure out the effective magnetic field direction to get better values of magnetoelectric voltage sensitivity i.e. αME. Both modes revealed the hysteretic behavior i.e. lagging of ME voltage response to an applied magnetic field which evidences a true multiferroic character of CFDO/KNN laminates. Remarkably, the (CFDO /KNN/ CFDO) structure demonstrated a substantial magnetoelectric coefficient in LT (α31) mode of approximately 38.5 mV/cm·Oe at a magnetic field of 400 Oe and −37.55 mV/cm·Oe at a magnetic field of −400 Oe. Thus, here we present the magnetoelectric laminate structure of CFDO /KNN/ CFDO phases beneficial for magnetic field sensors.

Multi-layered morphing soft structure with high-performance embedded electrothermal artificial muscles along with touch and temperature sensors

Abstract In this paper, we present a novel multilayered morphing structure, having similar topology resembling the structures found in nature to grasp delicate objects effectively as well as sense contact force and temperature. The structure consists of two actuation layers, two U-shaped cooling channel layers, piezoelectric based touch sensors and temperature sensors. Employing shape memory alloy (SMA) spring actuators for bending and twisted and coiled polymer fishing line with nichrome (TCPFL NMC) artificial muscles for antagonistic return, the soft silicone-based composite skin exhibits unique capabilities of large bidirectional movement, avoid rigid passive springs for return motion, soft grasping, safe interaction with humans, and ease fabrication. The SMA (0.38 mm wire diameter) serves as relatively fast actuating muscle and the TCPFL NMC (0.8 mm fiber diameter) as a slow actuating (considering mainly heating cycle), which was programmed/designed to mimic the fast and slow twitching muscles found in nature. Bending and return operations of skin samples of length 100 mm and thickness of 9 mm, with three different widths 20 mm, 25 mm, 30 mm, were experimentally studied. The 25 mm wide multilayered soft skin demonstrated cyclic actuation with a maximum bending angle of ∼70°, which was attributed due to the active cooling. The fluidic channels for active cooling were fabricated using 3D printed PVA tubes, casting within the silicone in a mold and subsequently dissolving in a circulating water. The study also included the integration and voltage response of mini-piezodisk sensor PIC255 having a diameter of 2 mm and thickness of 0.15 mm, which was embedded at different depths within the silicone (on the surface, 1 mm depth and 2 mm depth). The multilayered soft skin was also able to detect the temperature of the object during grasping, suggesting its potential application as a soft gripper in robotic systems.

Unprecedented Silver-Based Hybrid Pyroelectric Enabling Wide Spectral Photo-Pyroelectricity for Birefringence Photomodulation.

Birefringent crystal, which has the capacity to manipulate polarization light, holds an indispensable position in optics and optoelectronics, while it remains challenging to fulfill the modulation of birefringence. Here, we present wide spectral photo-pyroelectric effect in a silver-based hybrid pyroelectric, (N-CHM)Ag2I3 (N-CHM=N-cyclohexylmethylamine), serving as a feasible strategy to regulate birefringence through light stimuli. As the first silver-based hybrid pyroelectric, (N-CHM)Ag2I3 exhibits strong room-temperature photo-pyroelectricity with a large polarization of ~3.23 μC/cm2 and high voltage responsivity of ~0.96 m2/C across the UV-NIR spectral region. Strikingly, the photomodulation of its in-plane birefringence is established through pyroelectric effect, giving a saturation value of ~1.68×10-2 that is among the highest level achieved to date. This study on the birefringence photomodulation of lead-free hybrid pyroelectric is anticipated to boost future development of new smart optical and optoelectronic devices.

Circuit-theoretic phenomenological model of an electrostatic gate-controlled bi-SQUID

Abstract A numerical model based on a lumped circuit element approximation for a bi-superconducting quantum interference device (bi-SQUID) operating in the presence of an external magnetic field is presented in this paper. Included in the model is the novel ability to capture the resultant behaviour of the device when a strong electric field is applied to its Josephson junctions by utilising gate electrodes. The model is used to simulate an all-metallic SNS (Al-Cu-Al) bi-SQUID, where good agreement is observed between the simulated results and the experimental data. The results discussed in this work suggest that the primary consequences of the superconducting field effect induced by the gating of the Josephson junctions are accounted for in our minimal model; namely, the suppression of the junctions super-current. Although based on a simplified semi-empirical model, our results may guide the search for a microscopic origin of this effect by providing a means to model the voltage response of gated SQUIDs. Also, the possible applications of this effect regarding the operation of SQUIDs as ultra-high precision sensors, where the performance of such devices can be improved via careful tuning of the applied gate voltages, are discussed at the end of the paper.

Ti3C2T x MXene Based Electro-Ionic Soft Actuator with Potential for Wearable Finger Straps.

Soft electro-ionic actuators have received extensive research and attention due to their advantages such as low voltage response and adjustable deformation. However, they have not been able to enter the actual industry application like traditional rigid actuators; one of the reasons may be that the kinematic properties of actuators have been less studied. The electro-ionic actuator based on Ti3C2T x MXene-CNT/PPy electrode prepared in this paper shows good bending displacement (18.8 mm) and strain (0.63%) under 4 V voltage. In this article, the overlapping nature and exponential function relationship of the actuator end-point trajectories are preliminarily discussed, and the morphology change and cubic polynomial function relationship of the actuator body are considered. Moreover, in application, a novel proof-of-concept model of smart wearable finger straps is proposed. This study is a unique attempt and is hoped to provide a new research perspective in the field of soft electro-ionic actuators.

Enhanced analog switching and neuromorphic performance of ZnO-based memristors with indium tin oxide electrodes for high-accuracy pattern recognition.

This study systematically investigates analog switching and neuromorphic characteristics in a ZnO-based memristor by varying the anodic top electrode (TE) materials [indium tin oxide (ITO), Ti, and Ta]. Compared with the TE materials (Ti and Ta), memristive devices with TEs made of ITO exhibit dual volatile and nonvolatile switching behavior and multistate switching characteristics assessed based on reset-stop voltage and current compliance (ICC) responses. The polycrystalline structure of the ZnO functional layer sandwiched between ITO electrodes was confirmed by high-resolution transmission electron microscopy analysis. The current transport mechanism in the ZnO-based memristor was dominated by Schottky emission, with the Schottky barrier height modulated from 0.26 to 0.4V by varying the reset-stop voltage under different ICC conditions. The long-term potentiation and long-term depression synaptic characteristics were successfully mimicked by modulating the pulse amplitudes. Furthermore, a 90.84% accuracy was achieved using a convolutional neural network architecture for Modified National Institute of Standards and Technology pattern categorization, as demonstrated by the confusion matrix. The results demonstrated that the ITO/ZnO/ITO/Si memristor device holds promise for high-performance electronic applications and effective ITO electrode modeling.

A simple electrical circuit model for impedance spectroscopy with cochlear implant electrodes

Although cochlear implants are an established method of restoring hearing, they can have limitations such as increasing current spread and decreasing frequency resolution due to tissue growth around the electrode array. Impedance measurements in cochlear implants have become a versatile tool for intra- and post-operative diagnosis of cochlear implant state. However, most clinical devices use current pulse stimulation already available in the implants and analyze the voltage response in the time-domain and spread along the cochlea. To use the full potential of impedance spectroscopy in differentiating cell types, measurement over an extended frequency range is required. This study presents a simple electrical equivalent circuit for impedance spectroscopy with cochlear implants in a 2-pole configuration. The electrical equivalent circuit describes the electrical properties of the cochlear implant electrode and its electrochemical behavior at the electrode-electrolyte interface by comparing two non-linear bilayer models, Cole-Cole and Schwan-Faraday. The model is validated for four cochlear implant electrodes from four different manufacturers (MED-EL FlexSoft, AB HiFocus SlimJ, Oticon EVO, Cochlear Nucleus CI622) characterized by impedance spectroscopy between 5 Hz and 13 MHz. In the future, this electrical equivalent circuit may help to extract parameters for differentiating cell types around the cochlear implant electrode from an impedance spectroscopic measurement.

Optimized Energy Management System for Wind Lens-Enhanced PMSG Utilizing Zeta Converter and Advanced MPPT Control Strategies

This paper presents the design and analysis of an efficient energy management system for a wind lens integrated with a permanent magnet synchronous generator (PMSG) and a zeta converter. The wind lens, a ring-shaped structure encircling the rotor, enhances the turbine’s capability to capture wind energy by increasing the wind influx through the turbine. In the contemporary wind energy sector, PMSGs are extensively employed due to their superior performance characteristics. This study integrates a 1 kW PMSG system with a wind lens to optimize power extraction from the wind energy conversion system (WECS) under varying wind speeds. A comparative analysis of different control strategies for maximum power point tracking (MPPT) is conducted, including the incremental conductance (INC) method and the perturb and observe (P&O) method. The performance of the MPPT controller integrated with the wind lens-based PMSG system is assessed based on output DC voltage and power delivered to the load. To evaluate the overall effectiveness of these control strategies, both steady-state voltage and dynamic response under diverse wind conditions are examined. The system is modeled and simulated using the MATLAB R2023a/Simulink 9.1 software, and the simulation results are validated to demonstrate the efficacy of the proposed energy management system.

Analysis of pyroelectric properties in quenched NBT-BT composition

Quenching has recently demonstrated its efficacy in elevating the ferroelectric to relaxor phase transition temperature (TFR) in 0.94Na0.5Bi0.5TiO3-0.06BaTiO3 (NBT-6BT). Consequently, the current investigation comprehensively examines the pyroelectric properties of quenched NBT-6BT. The pyroelectric coefficient is measured using the Byer-Roundy method, incorporating a strategic approach to mitigate the risk of overestimation by implementing cyclic heating and cooling. Quenching enhances the depolarization temperature (Td) by approximately 40 °C, quantified through the temperature-dependent pyroelectric current density (Ip). The maximum pyroelectric current (52nA) and voltage (200V) responses to thermal cycling (15s heating/cooling) were observed in quenched NBT-6BT. The voltage sensitivity figures of merit were equivalent for both furnace-cooled and quenched NBT-6BT. The assessment of pyroelectric energy storage involved charging a 48 nF capacitor in 180s, resulting in a maximum voltage of 38V. The outcomes strongly endorse the quenched NBT-6BT as an efficient pyroelectric material, showcasing promising attributes for applications in sensing and energy harvesting across a broad temperature range.

Optimizing PID controller parameters for robust automatic voltage regulator system through indirect design approach-2

Automatic voltage regulators (AVR) are designed to manipulate a synchronous generator’s voltage level automatically. Proportional integral derivative (PID) controllers are typically used in AVR systems to regulate voltage. Although advanced PID tuning methods have been proposed, the actual voltage response differs from the theoretical predictions due to modeling errors and system uncertainties. This requires continuous fine tuning of the PID parameters. However, manual adjustment of these parameters can compromise the stability and robustness of the AVR system. This study focuses on the online self-tuning of PID controllers called indirect design approach-2 (IDA-2) in AVR systems while preserving robustness. In particular, we indirectly tune the PID controller by shifting the frequency response. The new PID parameters depend on the frequency-shifting constant and the previously optimized PID parameters. Adjusting the frequency-shifting constant modifies all the PID parameters simultaneously, thereby improving the control performance and robustness. We evaluate the robustness of the proposed online PID tuning method by comparing the gain margins (GMs) and phase margins (PMs) with previously optimized PID parameters during parameter uncertainties. The proposed method is further evaluated in terms of disturbance rejection, measurement noise, and frequency response analysis during parameter uncertainty calculations against existing methods. Simulations show that the proposed method significantly improves the robustness of the controller in the AVR system. In summary, online self-tuning enables automated PID parameter adjustment in an AVR system, while maintaining stability and robustness.

Performance enhancement energy harvesting from aeroelastic vibrations using a van der Pol circuit

This paper explores galloping vibration-based electromagnetic energy harvesting (EH) in a Duffing-Rayleigh oscillator coupled to a storage RLC resonator circuit with a van der Pol model. Aeroelastic instability induces the mechanical system’s self-induced vibration. The electromechanical coupling mechanism between the resonant van der Pol circuit and the mechanical structure is obtained by the permanent interaction of the magnet and the coil. We examine two cases in a comparative study. In the first case, we use an RLC resonator circuit without a van der Pol model. The second case considers the RLC resonator circuit with a van der Pol model. Firstly, the modulation equations of slow flow of the vibration and the output voltage responses are obtained using a complexification-averaging (CX-A) method. Furthermore, the analytical approximate solutions of the steady-state responses are derived. The obtained analytical results have been confirmed using numerical simulations. Results show that the Duffing-Rayleigh mechanical oscillator can provide higher electrical energy by introducing a van der Pol circuit instead of without a van der Pol circuit. Moreover, the presence of the van der Pol model with the RLC circuit can significantly reduce the critical wind speed required to harvest energy. This result may provide an optimization process that can be used to supply some guidelines in the design of galloping vibrations-based electromagnetic energy harvesters.

Modified extended Rauch–Tung–Striebel smoother method for the dynamic external excitation identification of piezoelectric vibration energy harvesting systems

A vibration energy harvester can collect vibration energy from the environment to supply low-power devices, such as wireless sensor nodes. Reducing the size and power consumption of these devices is a challenging problem. A dual-function device, which includes energy harvesting and vibration measurement, may solve this problem. Therefore, studying inversion methods for identifying the external excitation of a harvester is meaningful. In this study, a modified inversion method that combines an extended Rauch–Tung–Striebel smoother (ERTSS) with the particle swarm optimization (PSO) algorithm, i.e., the ERTSS-PSO method, is proposed to identify the time domain signal of external excitation through the voltage response of a piezoelectric vibration energy harvester. A modified ERTSS approach with sliding windows is developed. The sliding windows are partially overlapped to eliminate identification errors between the two contiguous windows. Near real-time identification is achieved for the small sliding window. PSO is utilized to estimate state noise covariance and measurement noise covariance, improving identification accuracy compared with the L-curve approach. Under this proposed framework, prior knowledge regarding the statistical data of unknown external excitations is unnecessary, enabling a more comprehensive range of applications. To assess the performance of the proposed ERTSS-PSO method, numerical simulations, including two piezoelectric vibration energy harvesting systems with third-order and fifth-order nonlinear stiffness, are conducted to verify the effectiveness of the proposed method under harmonic, multifrequency, and random excitations. The method proposed in this study is also validated by a circular laminated piezoelectric plate harvester under harmonic and random excitations in an experiment. Results from the experimental studies demonstrate that the proposed method improves identification accuracy by at least 9% compared with the extended Kalman filter, at least 7% compared with the augmented Kalman filter (AKF) with Rauch–Tung–Striebel smoother (ARTSS), and at least 40% compared with AKF under random excitation. In addition, the proposed method is unaffected by initial conditions, and it is more stable and accurate than AKF and ARTSS. The proposed method lays the theoretical foundation for identifying the external excitation of a harvester. It is also a possible solution for the miniaturization and compactness of wireless monitoring devices.

Characteristic Times for Gap Relaxation and Heat Escape in Nanothin NbTi Superconducting Filaments: Thickness Dependence and Effect of Substrate.

We measured the temporal voltage response of NbTi superconducting filaments with varied nanoscale thicknesses to step current pulses that induce non-equilibrium superconducting states governed by a hot spot mechanism. Such detected voltage emerges after a delay time td, which is intimately connected to the gap relaxation and heat escape times. By employing time-dependent Ginzburg-Landau theory to link the delay time to the applied current, we determined that the gap relaxation time depends linearly on film thickness, aligning with the acoustic mismatch theory for phonon transmission at the superconductor-substrate interface. We thereby find a gap relaxation time of 104 ps per nm of thickness for NbTi films on polished sapphire. We further show that interfacial interaction with the substrate significantly impacts the gap relaxation time, with observed values of 9 ns on SiOx, 6.8 ns on fused silica, and 5.2 ns on sapphire for a 50 nm thick NbTi strip at T=5.75 K. These insights are valuable for optimizing superconducting sensing technologies, particularly the single-photon detectors that operate in the transient regime of nanothin superconducting bridges and filaments.

ESTUDIO DE LA RESPUESTA I-V EN CELDAS DE MEMORIA DESb70Te30

Chalcogenide glasses are within the group of phase change materials and are promising in their application to non-volatile electronic memories. Under electrical pulses, they can circulate between two amorphous and crystalline structural states that are well differentiated in their conductivity. Assuming that the phase change mechanisms depend on the energy per unit volume delivered to the sensitive material, it is desirable to build cells on a micrometer scale, also considering that they could eventually be integrated into microelectronic manufacturing processes. In a previous work, we observed an abrupt decrease in the resistance of Sb70Te30base thin films deposited by laser ablation in a temperature range of approximately 445 K when the sample is heated at low rates. From the results of differential scanning calorimetry and X-ray diffraction on samples obtained by the same method, we associate the change in resistivity with the crystallization process. In this work, we build micrometric devices with rectangular surface with Sb70Te30assensitive material, deposited on coplanar electrodes with spacing L (8 and 16μm) and width W (4, 8, 16, 32 and 64μm). We measure the voltage response of the devices when excited by scanning of increasing current and, between consecutive scanning, we measure the remaining resistance by applying a constant voltage value. In curves I-V, we identify a transformation from the original state to one of lower resistance, attributable to crystallization, but it was not possible to perform the reverse transformation to a state of higher resistance. Starting from the lack of knowledge about the conductivity of the material, we simulate the electric field in the cell using the Finite Element Method. The electrical conductivity of the chalcogenide glass in its initial state (amorphous) was estimated by adjusting its value in the simulations with different geometries, minimizing the difference between the measured and simulated resistances.

A Highly Linear Ultra-Low-Area-and-Power CMOS Voltage-Controlled Oscillator for Autonomous Microsystems.

Voltage-controlled oscillators (VCOs) can be an excellent means of converting a magnitude into a readable value. However, their design becomes a real challenge for power-and-area-constrained applications, especially when a linear response is required. This paper presents a VCO for smart dust systems fabricated by 65 nm technology. It is designed to minimize leakage, limit high peak currents and provide an output whose frequency variation is linear with the input voltage, while allowing rail-to-rail input range swing. The oscillator occupies 592 μm2, operates in a frequency range from 43 to 53 Hz and consumes a maximum average power of 210 pW at a supply voltage of 1 V and 4 pW at 0.3 V. In addition, the proposed VCO exhibits a quasi-linear response of frequency vs. supply voltage and temperature, allowing easy temperature compensation with complementary to absolute temperature (CTAT) voltage.

Adaptive optimal observer for real-time state of charge estimation of lithium-ion batteries in robotic systems

PurposeThis study aims to address the challenge of the real-time state of charge (SOC) estimation for lithium-ion batteries in robotic systems, which is critical for monitoring remaining battery power, planning task execution, conserving energy and extending battery lifespan.Design/methodology/approachThe authors introduced an optimal observer based on adaptive dynamic programming for online SOC estimation, leveraging a second-order resistor–capacitor model for the battery. The model parameters were determined by fitting an exponential function to the voltage response from pulse current discharges, and the observer's effectiveness was verified through extensive experimentation.FindingsThe proposed optimal observer demonstrated significant improvements in SOC estimation accuracy, robustness and real-time performance, outperforming traditional methods by minimizing estimation errors and eliminating the need for iterative steps in the adaptive critic and actor updates.Originality/valueThis study contributes a novel approach to SOC estimation using an optimal observer that optimizes the observer design by minimizing estimation errors. This method enhances the robustness of SOC estimation against observation errors and uncertainties in battery behavior, representing a significant advancement in battery management technology for robotic applications.

Investigation on voltage response and application of flexible tactile sensors based on multiple cooperative structures

Recently, flexible tactile sensors (FTSs) have gained great attention for their application prospects in human–machine interfaces and robots. However, there is a lack of effective and practical approaches to study the response and guide the design of FTSs. Establishing a valid analytical model and revealing the effect mechanism remain challengeable at present. Herein, an analytical model of an FTS based on multiple cooperative structures (FTS-MCS) is developed. The model is validated with numerical and experimental results. The relative error between the analytical and experimental results for the compression and recovery are 9.3% and 3.8%, respectively. The effect of structure parameters, including helix coil and permanent magnet, is investigated based on the analytical model. The results show that the voltage of FTS-MCS can be improved by tuning the turn, diameter, and shape of coils and the remanent flux density and dimensions of the permanent magnet. The maximum voltage is improved by 49.8% as the turn of coils grows four. The effect of the load conditions of the compression deformation and compression speed is also revealed. Then, a sensitivity analysis is performed to quantitatively analyze the effect of different parameters. Results show the diameter of coils and the compression deformation have the greatest effect on the voltage of FTS-MCS. Due to the flexibility, adaptability, and tactility, such FTS-MCS are mounted on a double-fingered claw to endow the claw with self-perception capacity. Consequently, our study gives a comprehensive understanding of such FTS-MCS and is conducive to promoting the application of FTS-MCS.