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E-skins consisting of soft pressure sensors are enabling technology for soft robots, bio-integrated devices, and deformable touch panels. A well-known bottleneck of capacitive pressure sensors (CPS) is the drastic decay in sensitivity with increasing pressure. To overcome this challenge, we have invented a hybrid-response pressure sensor (HRPS) that exhibits both the piezoresistive and piezocapacitive effects intrinsic to a highly porous nanocomposite (PNC) with carbon nanotube (CNT) dopants. The HRPS is constructed with two conductive electrodes sandwiching a laminated PNC and a stiff dielectric layer. We have simplified the hybrid response into a parallel resistor–capacitor circuit, whose output depends on the AC (alternating current) frequency used for the capacitance measurement. Herein, through theoretical analysis, we discover a dimensionless parameter that governs the frequency responses of the HRPS. The master curve is validated through experiments on the HRPS with various doping ratios, subject to different compressive strains, under diverse AC frequencies. In addition, the relative contribution of piezoresistive and piezocapacitive mechanisms are also found to vary with the three parameters. Based on this experimentally validated theory, we establish a very practical guideline for selecting the optimal AC frequency for the capacitance measurement of HRPSs. 

Octopus-inspired cratered surfaces have recently emerged as a new class of reusable physical adhesives. Preload-dependent adhesion and enhanced adhesion under water distinguish them from the well-studied gecko-inspired pillared surfaces. Despite growing experimental evidence, modeling frameworks and mechanistic understanding of cratered surfaces are still very limited. We recently developed a framework to evaluate suction forces produced by isolated craters in air. In this paper, we focus on underwater craters. The suction force–preload relation predicted by this framework has been validated by experiments carried out with an incompressible fluid under small and moderate preloads. Our model breaks down under a large preload due to multiple possible reasons including liquid vaporization. A direct comparison between liquid and air-filled craters has been carried out and the dependence on the depth of water has been revealed. We find that the suction forces generated by underwater craters scale with the specimen modulus but exhibit non-monotonic dependence on the aspect ratio of the craters.