204a or, as indicated by reference numeral 204b, PTFE with an Aluminium backing layer. In this sense the sensory textile comprises a conductive backing layer, and a spacer layer disposed between the sensory textile and conductive backing layer. The spacer layer may be the polytetrafluoroethylene (PTFE) layer. The conductive backing layer may be the Aluminium backing layer. [049] The sensory textile is attached t o the substrate at at least two spaced apart locations 206. Thus, differences in length of the substrate and textile between the spaced apart locations will cause one of the substrate and textile to bulge or form a loop or arch, one of which is identified by numeral 208. The textile 200 has a rest condition, in which the sensory textile is spaced from the substrate between the at least two spaced apart locations. The textile also has a generating (i.e. operative) condition, in which the sensory textile is in contact with the substrate between the at least two spaced apart locations. Where the sensory textile forms an arch between the at least two spaced apart locations, stretching the substrate brings the sensory textile into the generating condition. [050] In use, the device 200 starts in an ’at rest’ condition in which the sensory textile 202 is spaced - along its length or at various locations along its length - from the substrate 204, as indicated by numeral 210. Pressing the sensory textile 202 against the substrate 204, as shown by numeral 212, which may involve stretching the substrate 204, causes the textile 202 and substrate 204 to approach and, per numeral 214, touch. That contact results in charge generation. On release of the sensory textile 202, e.g. by relaxing the substrate 204, the charge flows from the textile 202 to the substrate 204 as indicated by numeral 216. [051] The charge thus generated may be used in energy harvesting applications, to power sensors to facilitate communication of information in an Internet of Things (loT) application, in healthcare monitoring again using sensory systems powered by the harvested energy, or in robotic control to detect, for example, an extent of movement of a robotic arm or rotation of a joint. [052] FIG. 3 a sensory textile 202 formed in accordance with method 100 in a smart textile device that also includes a substrate that is spaced from the sensory textile 202 when in at ’at rest’ condition as shown in FIG. 3a - i.e. the substrate has not be stretched so that the sensory textile 202 has not been brought towards, or against, the substrate 204. In this embodiment, the substrate comprises a polymer layer 204b(i), presently PTFE, and an Al backing layer 204b(ii). [053] FIGs. 3b and 3c show electrical properties of diluted solutions of 6 different doped PEDOT:PSS concentrations: (1) 100% + double coating, (2)100%, (3)25%, (4)12.5%, (5)6%,