• • Peak output power of 5.82 mW at 3 MΩ load resistance enables self-powered operation, eliminating battery dependency in legged robots for extended field missions.
• • Sensitivity of 7.57 kPa⁻¹ (0–1 kPa) is 3.55 times higher than planar triboelectric sensors, ensuring precise detection of low-pressure gait events such as foot-ground contact.
• • Response times of 61.3 ms (loading) and 50.8 ms (recovery) support real-time gait phase recognition, critical for dynamic balance control in legged locomotion.
• • Stable sensitivity of 1.19 kPa⁻¹ in the 1–11 kPa range accommodates varying load conditions during walking, running, or carrying payloads, enhancing system robustness.