Versatile Multimodal Strain Sensors for Responsive Soft Robot Applications

Medical and agricultural robotics critically depend on tactile and flexible sensors to safely interact with living tissue and fragile objects. Traditional rigid robots, composed of materials like metal or plastic, lack adaptability, imposing constraints in environments requiring precise and safe interactions, such as limb rehabilitation or delicate object handling. Soft robot components, specifically engineered to engage with living tissue or fragile objects, present a promising solution due to their hyper-elasticity and conductivity. This paper introduces a novel method for fabricating flexible strain sensors using a 3D-printed soft-sensing body, ensuring flexibility and cost-effectiveness. These sensors, characterised by high resistivity and easy 3D printing capability, play a critical role in advancing soft robotics. The research focuses on designing and implementing flexible strain sensors integrated with Arduino circuitry for efficient data acquisition and analysis of electrical components. Experimental investigations demonstrate that sensor resistance is significantly affected by deflection, conductor thickness, and curvature, rendering them suitable for real-time sensing applications such as hand-wearable gloves for monitoring rehabilitation progress.