Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element

In soft robotics, a recent challenge is to decrease the number of rigid components used tocreate entirely robots. A common component in robots encoder, which should be replaced with counterpart if possible. this work, we de-sign and manufacture sensor, embedded into C-shaped leg soft, legged, miniature robot. Our main goal show that can embed sensor receive contact feedback from our quadruped. We test various parameters using custom setups analyze performance. design iterated by experimentally investigating several shape options. For C-leg quadruped, optimal geometry position for implementation are found discrete space as outcome work. received compared commercial encoder data data. managed detect rotation speed accuracy 87.5% on treadmill %86.7 under free C-leg. However, connection loss occurs slipring mechanism, error percentage estimating rotational increases significantly.