fig5

Figure 5. Soft robot-sensor integration and its applications in grasping objects. (A) Photographs of a pneumatic soft gripper merge with a sensor array consisting of three sensors; (B) The capacitance change for a sensor integrated on the surface of pneumatic soft fingers under different air pressures; the pneumatic soft finger does not touch objects during the bending process; (C) The corresponding capacitance change during inflating-deflating cycles over 5,000 times; (D) The capacitance change for a sensor integrated on the surface of pneumatic soft fingers under different air pressures; the pneumatic soft finger touches a hard bottle during the bending process; (E) The corresponding capacitance change during touching-releasing cycles over 5,000 times; (F) Capacitance change when touching different objects; (G) Tactile sensing by grasping a plastic ball (weight: 25 g); (H) Capacitance change when shaking the grasped object.