Modelling of a Soft Sensor for Exteroception and Proprioception in a Pneumatically Actuated Soft Robot

Abstract

Soft sensors are crucial to enable feedback in soft robots. Soft capacitive sensing is a reliable technology that can be embedded into soft pneumatic robots for obtaining proprioceptive and exteroceptive feedback. In this paper, we model a soft capacitive sensor that measures both the actuated state as well as applied external forces. We develop a Finite Element Model using a multiphysics software (COMSOL®). Using this model, we investigate the change in capacitance with the application of external force, for a range of different internal pressures and strains. We hope this study is helpful in understanding the coupling of internal inputs and external stimuli on the feedback obtained from the sensors and help us design better sensory systems for soft robots.