A Flexible 3D Force Sensor with In-Situ Tunable Sensitivity

Following biology's lead, soft robotics has emerged as a perfect candidate for actuation within complex environments. While soft actuation has been developed intensively over the last few decades, soft sensing has so far slowed to catch up. A largely unresearched area is the change of the soft material properties through prestress to achieve a degree of mechanical sensitivity tunability within soft sensors. Here, a new 3D force sensor which employs novel hydraulic filament artificial muscles capable of in-situ sensitivity tunability is introduced. Using a neural network (NN) model, the new soft 3D sensor can precisely detect external forces based on the change of the hydraulic pressures with error of similar to 1.0, similar to 1.3, and similar to 0.94 % in the x, y, and z-axis directions, respectively. The sensor is also able to sense large force ranges, comparable to other similar sensors available in the literature. The sensor is then integrated into a soft robotic surgical arm for monitoring the tool-tissue interaction during an ablation process.