Sensorization of soft robotics actuators allows for safe control of soft robots and allows for (co)-operating in close proximity with humans. Information on interaction forces of the soft robotic actuator with the environments allows for the development of haptic feedback systems for teleoperation. Furthermore, sensorized soft robotic actuators may provide real-time information about the deformation of the soft robot to update its control strategy.
The emerging development of 3D-printing technologies and materials facilitates the creation of soft and flexible sensors. In the past, we have used this technology to develop soft sensors to measure the interaction forces of the human fingertips. We already have demonstrated a fully 3D printed pneumatic soft robotic actuator with embedded strain gauges to estimate the bending angle of the actuator.
The next step will be to estimate the interaction force of the actuator with the environment. The assignment will be to develop and characterise new force sensors that can be embedded in a soft robotics actuator for this interaction force estimation using our 3D printers.