Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors, are broadly involved in tactile sensors across versatile applications. However, it remains a challenge to achieve high spatial resolution with self-decoupled capacity and insensitivity to other off-axis stimuli for stretchable tactile sensors. Herein, we develop a stretchable tactile sensor based on the proposed continuous spectral-filtering principle, allowing superhigh resolution for applied stimuli. This proposed sensor enables a high-linear spatial response (0.996) even during stretching and bending, and high continuous spatial (7 μm) and force (5 mN) resolutions with design scalability and interaction robustness to survive piercing and cutting. We further demonstrate the sensors' performance by integrating them into a planar parallel mechanism for precise trajectory tracking (rotational resolution: 0.02°) in real time.

翻译：可拉伸传感器因其软材料的高顺应性，在软体机器人、医疗设备和人机交互领域展现出广阔前景。离散式传感策略（包括传感器阵列和分布式传感器）已被广泛应用于各类触觉传感器中。然而，对于可拉伸触觉传感器而言，如何同时实现高空间分辨率、自解耦能力以及对其他离轴刺激的不敏感性，仍是一项挑战。本文基于所提出的连续光谱滤波原理，开发了一种可拉伸触觉传感器，能够对施加的刺激实现超高分辨率测量。该传感器即使在拉伸和弯曲状态下也能保持高线性空间响应（0.996），并具备高连续空间分辨率（7 μm）和力分辨率（5 mN），同时具有设计可扩展性和交互鲁棒性，能够承受穿刺和切割。我们进一步通过将传感器集成到平面并联机构中，实时实现了精确轨迹跟踪（旋转分辨率：0.02°），以此验证了其性能。