Stretchable graphene and carbon nanofiber capacitive touch sensors

for robotic skin applications

Supporting information

Srinivasarao Yaragallaa*, Simeone Dussonib*, Muhammad Zahida, Marco Maggialib, Giorgio

Mettab, Athanassia Athanasioua*, Ilker S. Bayera*

a
Smart materials, Istituto Italiano di Tecnologia, Via Morego 30, Genova 16163, Italy

b
iCub Facility, Istituto Italiano di Tecnologia, Via Morego 30, Genova 16163, Italy

*
Corresponding Authors: Srinivasa.Yaragalla@iit.it (Srinivasarao Yaragalla)
Simeone.Dussoni@iit.it (Simeone Dussoni)
Athanassia.Athanasiou@iit.it (Athanassia Athanasiou)
Ilker.Bayer@iit.it (Ilker S. Bayer)
S.1 Effect of acid treatment on the morphology of NBR

(a) (b)

5µm 5µm

(c) (d)

20µm 20µm

Figure S1: SEM images of the surface morphology of (a) Neat NBR (b) acid-treated NBR, the

cross-section morphology of (c) Neat NBR (d) acid-treated NBR.

S.2 Fourier transformed infrared spectroscopy (FT-IR)

Figure S2 presents the FT-IR spectra of neat NBR and 50% acetic acid-treated NBR. The bare

NBR exhibited significant peaks at 2238 cm-1 and 966 cm-1 correspondings to the C≡N stretching

vibrations of acrylonitrile and C-H wagging vibrations of butadiene, respectively [1] [2]. Acetic

acid (50%) treated NBR showed a similar trend as bare NBR, indicating that bare NBR's core

chemical structure is not affected by 50% acetic acid.

Figure S2: FT-IR of the bare nitrile rubber (black), and 50% acetic acid treated nitrile rubber

(red).
S.3 Mechanical properties of NBR composites

Figure S3: Mechanical properties of the neat nitrile rubber, acid-treated nitrile rubber, GNPs and

CNFs coated nitrile rubber composites.

S.4 Photographic representation with the sepcimens before and after elongation

experiments

Figure S4: Photographic images of the specimen (a) before elongation (b) after elongation
@50% (c) after released to 20% of initial length

S.5 Surface morphology of the prepared GNF and CNF based coatings before and after

heat treatment with heating gun

Figure S5(a-d) displays the SEM images of cyclically elongated (i.e., 50% elongation ) GNPs

and CNFs coated films before and after heat treatment. From the figure, it was evident that the

GNP layers are more affected during stretch release cycles compared to CNF nanowires, as it

reflected in the electrical properties (see main text Figure 2 & 3). We found that the mechanical

damages of the prepared coatings (GNP & CNF) healed with simple heat gun treatment at 150°

C for about 60 sec. Healing of the mechanical damages (cracks) can be seen in Figure S5
(b)&(d). Reorganization/restructuring of GNP layers during heating might be the factor for the

crack healing, further validating the regaining/recovering of the initial current. In the case of

CNFs coating, all the CNF nanowires are interconnected/self-assembled through rubbery chains.

It seems that some glue formation that boosts the connectivity among CNF fibers.  

(a) (b)

5µm 5µm

(c) (d)

5µm 5µm

Figure S5: Cyclically elongated GNP coating (a) before & (b) after heat treatment and CNF

based coating (c) before & (d) after heat treatment.

S.6 Current voltage (I-V) measurements

We conducted current-voltage measurements with the prepared 30 wt% GNFs or CNFs coated

NBR films and are given in Figure S6.1 & S6.2 GNPs coated film exhibited ohmic I-V behavior

at all stages, i.e., before 50% elongation (Figure S6.1 (a)), after 50% elongation (Figure S6.1

(b)), and after released to 20% of the initial length (Figure S6.1 (c)). At 50% elongation, it lost
99% current and recovered to 160% when released to 20% of the initial length. CNFs coated film

showed ohmic I-V behavior; however, the current decreased to 50% at 50% elongation and

recovered to 11% when released to 20% (see Figure S6.2 (a-c)). These measurements

substantiated well with the reproducibility of current values at 50% elongation for both GNP and

CNF based coatings (see main text Figure 2& 3, Figure 4 (c)).

Figure S6.1: I-V behavior of GNP based NBR composites (a) before & (b) after 50% elongation

(c) released to 20% of initial length.

Figure S6.2: I-V behavior of CNF based NBR composites (a) before 50% & (b) after 50%

elongation (c) released to 20% of initial length.

S.7 Sheet resistance of GNPs and CNFs based coatings

(a) (b)

Figure S7: I-V curves of the (a) GNP (b) CNF based coatings.

S.8 Fabricated sensor sensitivity performance

Table ST1. Variation of the sensor carried current with respect to applied stress
Status Current (mA @2V) Normalized current I/I0
Initial condition (I0) 15.5 1
50% elongation 8.7 0.56
Released to 20% elongation 10.2 0.66

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Test. (2007). 10.1016/j.polymertesting.2006.08.004.