Adjustable Compliance Soft Sensor via an Elastically Inflatable Fluidic Dome

Soft sensors are essential for robotic systems to safely interact with humans and the environment. Although significant research has been carried out in field of soft tactile sensing, most these restricted a predefined geometry fixed measurement range, hence limiting their application. This paper introduces novel approach sensing by proposing load-sensing unit an adjustable mechanical compliance achieved using elastically inflatable fluidic dome. The sensor consists three-dimensional Hall-effect sensor, above which is magnet whose movement modulated intermediate elastomeric dome structure. Sensor configurations were designed fabricated three different silicone rubbers cover ‘00–10’ ‘20A’ durometer shore hardness scales. We demonstrated that could be dynamically tuned changing internal pressure all configurations. performed finite element simulations determine reaction force under load as well stresses within structural behavior, not possible capture experimentally. proposed potential readily adapted use various applications differing size, safety requirements.