摘要Tactile and slip sensors have gained tremendous attention for their promising applications in the fields of smart robotics,implantable medical devices and minimally invasive surgery.Inspired by the structure-enhanced sensing mechanisms of human fingertips and tree frog toes,we developed a tactile and slip sensor by combining biomimetic surface microstructures with highly sensitive P(VDF-TrFE) nanofiber sensors on a flexible polyimide substrate.As the surface microstructures could mediate the micro-vibration induced by slip motion,the frequencies of output signals revealed a strong correlation with the periods of microstructures.In addition,we proposed a method to discriminate touch force from slip motion using the criterion of standard deviation of time delay from the output signals of neighboring sensor elements.