Review of Flexible/Stretchable Sensors for Soft Robot

Abstract

Flexible/stretchable sensors comprising soft structures that do not interfere with the softness of the bodies of soft robots are essential for achieving soft robots with superior operational performance. These sensors are expected to be applicable as sensing skin for humanoid robots and as interfaces for human-robot interactions. Herein, we refer to flexible/stretchable sensors inves-tigated for soft robotics applications as “soft sensors” and review recent research trends. Specifically, we dis-cuss optical, resistive, capacitive, and inductive soft sensors with emphasis on their materials and structures.