A novel pneumatic soft sensor for measuring contact force and curvature of a soft gripper

Research paper by HuiYang, YangChen, YaoSun, LinaHao

Indexed on: 11 Nov '17Published on: 01 Oct '17Published in: Sensors and Actuators A: Physical


•A novel pneumatic soft sensor (PSS) for soft grippers is proposed.•PSS can be used as a contact force sensor and a curvature sensor.•PSS has a good deformability and can be easily integrated into a fully soft continuum gripper without restricting its behavior.•A novel soft pneumatic finger with simple structure and good self-sensing ability is presented.