Biomimetic Stretchable Sensor Resembling SharPei Crumples with 2D Materials towards Collaborative Robotic Minimally Invasive Procedures For the purpose of collision avoidance, medical robots can utilize tactile sensors with 2D materials including reduced graphene oxide rGO and MXene electrodes that are stretchable like the skin of humans. When the electrode surface is visualized using scanning electrode microscope (SEM), the surface morphologies have wrinkles like those found on Shar Pei dog faces. This study aims to examine the biomimetic similarity between the 2D crumples in SEM images of the electrode surface and in the images of SharPei dog faces. The similarity in 2D crumples was assessed by computing the angles made by the crumples and analyzing its distribution. This study demonstrates that there is a biomimetic similarity between the dog face and the SEM images of the rGO and MXene electrodes. This implies similar stretchable functionalities and protective principles out of the crumple geometry of the sensors and SharPei skins.

Electronic Skin Design Methods Applied to Capsule Robot Electronic skin is also widely used in robots, which mainly sense relevant information of the outside world through tactile sensors, so highperformance tactile sensors are important indicators to determine the performance of robots. The tactile perception function of capsule robots plays an increasingly important role, especially in minimally invasive surgery and tumor detection. Electronic skin has also become a research hotspot in the field of capsule robots. Based on the bionic structure and structural design, material selection and experimental results of electronic skin, and by comparing the design and application of electronic skin at home and abroad, this paper proposes a design method of pressure tactile sensation based on graphene threedimensional array applied to capsule robots, which has the capability of sensing threedimensional pressure. The design method is expected to be popularized and applied in actual capsule robots, which is beneficial to the application and development of robot tactile sensing technology.