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Flexible robots have advantages over rigid robots in their ability to conformphysically to their environment and to form a wide variety of shapes. Sensingthe force applied by or to flexible robots is useful for both navigation andmanipulation tasks, but it is challenging due to the need for the sensors towithstand the robots' shape change without encumbering their functionality.Also, for robots with long or large bodies, the number of sensors required tocover the entire surface area of the robot body can be prohibitive due to highcost and complexity. We present a novel soft air pocket force sensor that ishighly flexible, lightweight, relatively inexpensive, and easily scalable tovarious sizes. Our sensor produces a change in internal pressure that is linearwith the applied force. We present results of experimental testing of howuncontrollable factors (contact location and contact area) and controllablefactors (initial internal pressure, thickness, size, and number of interiorseals) affect the sensitivity. We demonstrate our sensor applied to a vinerobot-a soft inflatable robot that "grows" from the tip via eversion-and weshow that the robot can successfully grow and steer towards an object withwhich it senses contact.

Soft Air Pocket Force Sensors for Large Scale Flexible Robots