[1] [1] Dahiya R S, Metta G, Valle M, et al. Tactile sensing-from humans to humanoids［J］. IEEE Trans. on Robotics, 2010, 26(1): 1-20.

[3] [3] Kolesar E S, Dyson C S. Object imaging with a piezoelectric robotic tactile sensor［J］. J. of Microelectromechanical Systems, 1995, 4(2): 87-96.

[7] [7] Wang T T, Herbert J M, Glass A M. The Applications of Ferroelectric Polymers［M］. Glasgow: Blackie and Son, 1988: 44-70.

[8] [8] Zhao Jingjing, You Zheng, Jian Linni. Models for 31-mode PVDF energy harvester for wearable applications［J］. The Scientific World J., 2014: 893496.