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ELSI sensors are used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans directly contact the external environment, and developing tactile sensors that meet requirements is one of the technical keys in robot development. With the development of microelectronics technology and the emergence of various organic materials, a variety of development plans for tactile sensors have been proposed, but most are currently in the laboratory stage, with few reaching productization. Tactile sensors can be roughly divided into contact sensors, force-torque sensors, pressure sensors, and slip sensors according to their functions. E