Fabrication of the TENG-based sensors

The conductive textile (Ni-fabric) tape was cut into 5 mm × 25 mm and 5 mm × 120 mm to form the short and long electrodes before the electrodes were arranged on the PET film substrate (0.1 mm × 23 mm × 108 mm) by its own adhesive (acrylic pressure sensitive adhesive). Then, the substrate with the electrodes was fixed on the bottom of the mold with a 25 mm × 110 mm groove by double-sided tape as shown in Supplementary Fig. ¹. After dispensing required amounts of Parts A and B of the EcoFlex 00-30 (Smooth-On), the mixed solution was poured to fill the groove on the mold as the negative triboelectric layer. The T-TENG sensor can peel off from the mold followed by a 60 min baking at 50 °C for curing. The main structure of L-TENG sensor was fabricated by a commercial 3D printer (4max pro, Anycubic). The positively triboelectric material (Ni-fabric) was coated on the gear by its own adhesive.