The human somatosensory network relies on ionic currents to sense, transmit, and process tactile information. We investigate hydrogels that similarly transduce pressure into ionic currents, forming a piezoionic skin. As in rapid- and slow-adapting mechanoreceptors, piezoionic currents can vary widely in duration, from milliseconds to hundreds of seconds. These currents are shown to elicit direct neuromodulation and muscle excitation, suggesting a path toward bionic sensory interfaces. The signal magnitude and duration depend on cationic and anionic mobility differences. Patterned hydrogel films with gradients of fixed charge provide voltage offsets akin to cell potentials. The combined effects enable the creation of self-powered and ultrasoft piezoionic mechanoreceptors that generate a charge density four to six orders of magnitude higher than those of triboelectric and piezoelectric devices.

Ionic actuators have attracted attention due to their remarkably large strain under low-voltage stimulation. Because actuation performance is mainly dominated by the electrochemical and electromechanical processes of the electrode layer, the electrode material and structure are crucial. Here, we report a graphitic carbon nitride nanosheet electrode-based ionic actuator that displays high electrochemical activity and electromechanical conversion abilities, including large specific capacitance (259.4 F g⁻¹) with ionic liquid as the electrolyte, fast actuation response (0.5±0.03% in 300 ms), large electromechanical strain (0.93±0.03%) and high actuation stability (100,000 cycles) under 3 V. The key to the high performance lies in the hierarchical pore structure with dominant size <2 nm, optimal pyridinic nitrogen active sites (6.78%) and effective conductivity (382 S m⁻¹) of the electrode. Our study represents an important step towards artificial muscle technology in which heteroatom modulation in electrodes plays an important role in promoting electrochemical actuation performance.