fig6

Figure 6. Soft sensors for underwater soft robot applications. (A) Liquid metal-based sensor composed of elastomeric fluidic channels with filled conductive liquid metal eGaIn to measure strain and provide feedback to control the soft robotic fish^[184]; (B) IPMC material which can be used as a sensor under bending deformation. IPMC sensors can detect changes in deformation, pressure, velocity, and humidity^[185]. [All images (A and B) are licensed under CC BY 4.0. http://creativecommons.org/licenses/by/4.0/.] IPMC: Ionic polymer metal composites.