Figure 18 shows voltage and displacement as a function of time for the triboelectric sensor of Figure 1(b); 

Figure 19 shows voltage measurements from an experiment in which a user’s finger taps on the triboelectric sensor of Figure 1(c); 

Figure 20 shows voltage curves during control of a robot to perform various tasks by the system of Figure 3; 

Figure 21 is a schematic depiction of a process for fabricating a carbohydrate- based elastomer for an electrode of the triboelectric sensor of Figure 1(b) or Figure 1(c); 

Figure 22 is a graph of current as a function of time for an electrode fabricated by the process of Figure 21; 

Figure 23 is a plot of locations detected by the sensor of Figure 1(b); 

Figure 24 shows stability test results for the sensor of Figure 1(c); 

Figure 25 shows long-term stability test results for the sensor of Figure 1(b); 

Figure 26 shows energy harvesting results for the sensor of Figure 5; 

Figure 27 shows an embodiment of a 2D triboelectric sensor and signals generated during use thereof; 

Figure 28 shows energy harvesting performance of the sensor of Figure 7; 

Figure 29 shows test results during a process for optimising electrode spacing for a triboelectric sensor; 

Figure 30 shows an embodiment of a triboelectric sensor with a grid configured according to L/S coding, and signals generated during use thereof; 

