## CLAIMS 

1. A triboelectric sensor comprising : 

a substrate; 

at least one grid structure disposed in or on the substrate; and 

at least one electrode for collecting triboelectric charges that are generated by sliding of an object over a surface of the substrate; 

wherein the at least one grid structure is configured such that motion of the object is detectable from a signal generated by crossing of the object over at least part of the grid structure. 

2. A triboelectric sensor according to claim 1, wherein : 

the at least one electrode comprises at least one pair of electrodes, respective electrodes of the pair being located at opposite sides of the substrate; and wherein : 

the at least one grid structure comprises a spacing structure, said spacing structure comprising a plurality of raised portions, the raised portions having a constant height, such that transport of the object along the surface of the substrate generates a separation of charges between the substrate surface and the object surface when the object encounters one of said raised portions, and such that motion parameters of the object are derivable from the ratio of electric potentials of said pair of electrodes. 

3. A triboelectric sensor according to claim 2, comprising two pairs of electrodes, wherein a first pair of electrodes is arranged opposite each other along a first direction, and a second pair of electrodes is arranged opposite each other along a second direction that is orthogonal to the first direction. 

4 . A triboelectric sensor according to claim 2 or claim 3, wherein the spacing structure is formed from a resin material. 

5. A triboelectric sensor according to claim 1, wherein the at least one grid structure comprises a first electrode grid formed on the substrate and 

