Sensing performance of the PAM-r-MVIC-2 in bimodal capacitive/resistive ionic sensors. (a) Schematic illustration for the design of bimodal sensors. (b) Sensitivities in a capacitance mode. Relative capacitance variation under pressures with various (c) frequencies and (d) forces. (e) Cycling stability of relative capacitive changes. (f) Sensitivities in a resistance mode. Relative resistance variation under pressures with various (g) frequencies and (h) forces. (i) Cycling stability of relative resistance changes.