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The piezoelectric films can be used as either force actuators or strain sensors . ... A rectangular film has an electrode bounded by a rectangle and a uniform .... By spraying piezoelectric material, the robot skin sensor can be fabricated on a robot with 3D free form. Our .... ... each other with a curved piezoelectric film having a first surface and a second ... generated by beating the other surface of said piezoelectric surface of the film ... 8a1e0d335e