Table 2 Comparison and potential application of soft sensors in robotics
From: A Review of Smart Materials for the Boost of Soft Actuators, Soft Sensors, and Robotics Applications
Soft sensor | Resistance sensor | Capacitance sensor | Magnetic sensor | Optical waveguide sensor |
|---|---|---|---|---|
Advantages | Stretchable; Larger strain; Simple structure; Low cost | High sensitivity; Low hysteresis; Fast response; Low power consumption; Simple design | Low hysteresis; Compact structure; Low cost; Contact-free sensing capability; | Inherent electrical safety; Immunity to electromagnetic interference; Small size; Low hysteresis |
Limitations | High hysteresis; Nonlinear signal; Affected by the electric field, magnetic field, vibration, temperature | High cost; Affected by the external electric and magnetic field | Affected by the external electric and magnetic field | Low stretchability and stiff of traditional optical fibers |
Applications | Measure tensile deformation, normal force, shear force, bending degree; Flexible touch screen; Electronic skin, etc. | Measure tensile deformation, normal force and shear force; Flexible touch screen; Electronic skin, etc. | Deformation detection; Force recognition; Shape and posture recognition | Measure force, deformation and bending; Identify shapes and textures of objects |