Soft Fabric-Based Pneumatic Sensor for Bending Angles and Contact Force Detection

This paper presents the design and the development of a novel fabric-based pneumatic sensor for sensing external bending angles and compressive contact forces. This sensor system is a soft sensor system aimed at addressing issues with the use of sensors alongside soft actuators, where the material compliance is of key importance. The principle of the sensor system is based on the detection of changes in the pressure within its mechanical...