Figure 18 shows voltage and displacement as a function of time for the triboelectric sensor of Figure 1(b); Figure 19 shows voltage measurements from an experiment in which a user’s finger taps on the triboelectric sensor of Figure 1(c); Figure 20 shows voltage curves during control of a robot to perform various tasks by the system of Figure 3; Figure 21 is a schematic depiction of a process for fabricating a carbohydrate- based elastomer for an electrode of the triboelectric sensor of Figure 1(b) or Figure 1(c); Figure 22 is a graph of current as a function of time for an electrode fabricated by the process of Figure 21; Figure 23 is a plot of locations detected by the sensor of Figure 1(b); Figure 24 shows stability test results for the sensor of Figure 1(c); Figure 25 shows long-term stability test results for the sensor of Figure 1(b); Figure 26 shows energy harvesting results for the sensor of Figure 5; Figure 27 shows an embodiment of a 2D triboelectric sensor and signals generated during use thereof; Figure 28 shows energy harvesting performance of the sensor of Figure 7; Figure 29 shows test results during a process for optimising electrode spacing for a triboelectric sensor; Figure 30 shows an embodiment of a triboelectric sensor with a grid configured according to L/S coding, and signals generated during use thereof;