[063] Resistance change characterization is a common sensing mechanism for most of the strain sensors, and a textile coated with conductive nanoparticles is also a potential configuration for strain sensing. A PEDOT:PSS coated textile strip with a width of 1cm and a length of 2 cm was also tested. The resistance of the strip under different strain is measured and depicted in FIG. 6. Relevantly, FIG. 6 shows (a) a test setup of a resistive strain sensor, and (b) the relationship between resistance and strain. The strain sensor is a multi-arch strain sensor 600. The multi-arch strain sensor 600 is based on the PEDOT:PSS functionalized textile 602 as demonstrated in FIG. 5. Ecoflex, which is a highly stretchable and triboelectric negatively polymer, may be used for the bottom layer 604 t o provide negative charges - other triboelectric negative materials may be substituted for the PTFE or Eco-flex materials as appropriate. This triboelectric strain sensor 600 works in the single-electrode mode. When there is no strain applied to the sensor 600, the PEDOT:PSS functionalized textile 602 will stay separated from the bottom Eco-flex thin film 604. When the arch is stretched, the textile 602 will be straightened and contact with the Eco-flex thin film 604 as shown - the device 600 being depicted in a ’use’ or ’charge generation’ condition - resulting in the generation of triboelectric charges on the contact surface - i.e. the surface at which the textile 602 touches the thin film 604 - and the output will then depend on the stretching elongation, which is related to the strain. [064] A good linear response from 5% to 20% strain can be observed, but the largest strain that the device 600 can withstand is only 35% due to the limited elongation of the textile structure. For an applied strain of 20%, the relative resistance change of the textile strip is AR/R0 =45%, where R and R0 are the resistance with and without applied strain and AR= | R- R0 1. [065] Arch Shaped Finger Bending Sensor [066] Similarly, a two-arch shaped strain sensor based on the PEDOT:PSS functionalized textile and Eco-flex thin film for finger motion detection is shown in FIG. 7a. Relevantly, FIG. 7 shows FIG. 7(a) a photo of as-fabricated finger bending sensor 700 mounted to a user’s hand by a glove 702 with an arch 704 over the proximal interphalangeal joint (PIP) and an arch 706 over the metacarpophalangeal joint (MP), where FIG. 7(e) provides, schematically, an embodiment with two separate arches 708, 710 and FIG. 7(i) shows both arches in a single, continuous textile strip 712. FIG. 7(b) is a photo of the hand bending, resulting in a corresponding elongation of arch 704 bending and corresponding signal for FIG. 7(f) for the two separate sensors design (i.e. FIG. 7(e)) and FIG. 7(j) for the single sensor design (i.e. FIG. 7(i)). FIG. 7(c) a photo of M P bending and corresponding signal for FIG. 7(g) the two separate