Soft Robotic Finger with Integrated Stretchable Strain Sensor

This work presents an advanced soft robotic finger with integrated strain sensor based on carbon nanotubes (CNTs). The interdigitated strain sensor is obtained by dielectrophoretic assembled CNT network. The sensor is connected to stretchable interconnects to ensure robust electrical connection during movements of the soft finger. The sensor is highly sensitive with up to 1300% change in the resistance for 11% strain. Finally, the CNT strain sensor is integrated with a soft robotic finger to monitor the bending for real time kinesthetic tactile feedback.