Graded Interlocks for Iontronic Pressure Sensors with High Sensitivity and High Linearity over a Broad Range

> 0.995) over a broad pressure range (up to 485 kPa) enabled by graded interlocks of an array of hemispheres with fine pillars in the ionic layer. The high linearity comes from the fact that the pillar deformation can compensate for the effect of structural stiffening. The response-relaxation time of the sensor is <5 ms, allowing the device to detect vibration signals with frequencies up to 200 Hz. Our sensor has been used to recognize objects with different weights based on machine learning during the gripper grasping tasks. This work provides a strategy to make flexible pressure sensors that have combined performances of high sensitivity, high linearity, and wide pressure-response range.