## 1 Introduction  
Conductive flexible polymer materials, characterised by distinctive electrical, mechanical, and processing attributes, have garnered significant interest due to their substantial potential for flexible sensor applications, including e-skin [1; 2], medical monitoring [3; 4], and intelligent robotics [5; 6; 7]. Their properties encompass hysteresis, sensitivity, creep, repeatability, and linearity [8]. Hysteresis and sensitivity have emerged as the principal indicators influencing sensor performance, affecting reliability and measurement accuracy. In specific sensors requiring sustained high sensitivity across a broad pressure range, operations often exhibit considerable hysteresis error [9], amplifying the pressure sensor's data processing burden and compromising sensor reliability. Consequently, developing flexible sensing materials with low hysteresis and high sensitivity is an urgent challenge that necessitates resolution. The viscoelastic properties of the elastomer, the interfacial adhesion between the conductive material and the substrate, and the surface energy between the contacting elastomers all influence the hysteresis of the sensing material. Incorporating microstructures (e.g., porous [10], wavy [11], and pyramidal [12]) into the substrate of the flexible sensing material can significantly mitigate the hysteresis induced by the viscoelasticity of the elastomer; for instance, the hysteresis of the pollen-shaped layered sensor is merely 4.6% [13]. Elastomer microstructures are susceptible to random cracking and wear due to external stresses, leading to an increase in hysteresis and a decrease in sensor reliability [14; 15]. Furthermore, researchers have examined the impact of the contact between the conductive material and the substrate on the hysteresis of the sensors. [PERSON] et al. [16] suggested a piezoresistive pressure sensor including an elastomer template featuring evenly sized and aligned pores and a thin coating of conductive polymer chemically grafted onto the pore surfaces, exhibiting a hysteresis of merely 2%. [PERSON] et al. [17] developed a novel double-layer MXene-doped MLG pressure sensor exhibiting a hysteresis of 1.51% within a pressure range of 0-10 kPa. [PERSON] et al. [18] developed flexible pressure sensors utilising an MLG-based conductive foam, demonstrating remarkable hysteresis and elevated sensitivity within the low-pressure range of under 10 kPa. [PERSON] et al. [19] developed a flexible pressure sensor through 3D printing utilising a nanocomposite material composed of multi-walled CNTs, room-temperature vulcanising (RTV) silicone rubber, and carbon nanofibers. This sensor demonstrated superior performance within a pressure range of 0-10 kPa, exhibiting a hysteresis of merely 2.44% and a sensitivity of 0.4311 kPa\({}^{-1}\). The studies mentioned above indicate that, in sensors composed of nanocomposites with nanoparticles dispersed within a polymer matrix, the interaction between the conductive polymer and the matrix significantly influences hysteresis generation. Furthermore, robust interfacial bonding between the elastic nanoparticles (e.g., CNT [19] and MLG [17; 18]) and matrix effectively mitigates sensor hysteresis. Highly sensitive flexible sensors are extensively employed for measuring the intraocular pressure and pulse, replicating the human body's tactile perception and integrating sensing [20] and handling items. Nonetheless, an inherent trade-off exists between high sensitivity and a broad detection range [21]. Presently, the majority of tactics to surpass the sensitivity threshold of flexible pressure sensors concentrate on the fabrication of microstructures on elastomer substrates (e.g., polydimethylsiloxane [22], eco-flexible TPU [23], and polyurethane [24], among others). Nonetheless, the microstructure design process is intricate and labour-intensive, and the performance of flexible sensors with microstructures cannot be enhanced further in the low-pressure region (<20 kPa).