Coaxially 3D‐Printed Dual‐Mode Magnetoelectric Fiber Sensors for Robotic Manipulator Proprioception

ABSTRACT Flexible sensors for robotic proprioception are often limited by single transduction pathways and multistep fabrication/assembly strategies, making it difficult to simultaneously achieve integrated static–dynamic motion sensing and structurally continuous deformable devices. Here, we report a coaxially 3D‐printed dual‐mode magnetoelectric fiber sensor (DMEFS) with a helical liquid‐metal core/magnetic‐elastomer sheath architecture. The customized coaxial printing and winding strategy enables direct integration of conductive and magnetic functionalities within one fiber‐like structure. The fabricated sensor shows stretchability above 300% and stable electrical performance over 10 000 stretching‐recovery cycles. Owing to its integrated magnetoelectric design, the DMEFS generates two complementary electrical outputs. In the voltage mode, the output voltage shows a good linear relationship with stretching frequency ( R 2 = 0.96) and weak dependence on strain, enabling dynamic motion monitoring. In the inductive mode, it provides stable readout of strain and bending state with weak frequency dependence, supporting reliable static deformation sensing. When integrated into a robotic manipulator, the DMEFS enables object recognition and rehabilitation training. The proposed DMEFS offers a simple and highly integrated route toward dual‐mode proprioceptive sensing for robotic manipulators.