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Despite significant progress in the fabrication and application of semiconductor materials for optical emitters and sensors, few materials can cover the cyan-gap between 450 and 500 nm. We here introduce a robust and facile method to deposit amorphous Sb2S3 films with a bandgap of 2.8 eV. By exploiting the tunable functionality of graphene, a two-dimensional material, efficient deposition from a chemical was achieved. Ozone-generated defects in the graphene were shown to be required to enhance the morphology and quality of the material and comprehensive characterization of the seed layer and the Sb2S3 film were applied to design an optimal deposition process. The resulting material exhibits efficient carrier transport and high photodetector performance as evidenced by unprecedented responsivity and detectivity in semiconductor/graphene/glass vertical heterostructures. (112 A/W, 2.01 × 1012 Jones, respectively).

SUMMARYThe variable stiffness actuator (VSA) is helpful to realize the post-collision safety strategies for safe human–robot interaction.1 The stiffness of the robot will be reduced to protect the user from injury when the collision between the robot and human occurs. However, The VSA has a mechanism limit constraint that can cause harm to users even if the stiffness is minimized. Accordingly, in this article, a concept combining danger index and robust fault detection and isolation is presented and applied to active–passive variable stiffness elastic actuator (APVSEA). APVSEA can actively change joint stiffness with the change of danger index. Experimental results show that this concept can effectively confirm the fault mode and provide additional protection measures to ensure the safety of users when the joint stiffness has been adjusted to the minimum.