Force measurement of soft finger using polyurethane bend sensor and inner pressure

Abstract

In this paper, we present a multi-material 3D printed soft finger with an integrated bending sensor to measure its contact force. The bending sensor is made of polyurethane, and then inserted in to the inflation chamber of the soft finger. When the soft finger is contract with an object, it is possible to get the contact force from sensor curvature readings and finger inflation pressure. Experiments are carried out to calibrate the sensor curvature and inflation pressure response to the contact force between soft finger and objects. Results have proven the contact force measured by the bending sensor is accurate and reliable, with a maximum error of 0.1N.