UC San Diego

Soft robotic systems necessitate accurate and reliable sensor readings to detect environmental interactions and provide precise actuation feedback. The practicality of soft sensors lies in their sensitivity, reliability, repeatability, and flexibility. Soft pneumatic deformable structures, known as sensing chambers, have the potential to serve as functional sensors in soft robotic systems and devices by sensing various mechanical modalities. However, the common approach of employing one pressure transducer per sensing chamber limits the scaling of the number of sensors to achieve arrays able to detect touch at many locations.Here we present an approach to the design of pneumatic sensor arrays that reduces the number of required transducers. We develop mathematical models to analyze the pressure variations within the sensor arrays in response to applied forces at various locations. We also introduce fabrication methods that employ plastic sheets to construct the sensor array, enabling optimal performance and ensuring reliable sensing capabilities. We then evaluate the performance of various designs of the sensing chambers within the sensor arrays. Finally, we devise an algorithm capable of accurately determining the location of multiple touches anywhere within the sensor array.