In this paper, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of a soft capacitive sensor to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the deformation. Using a FEM-based numerical approach, we integrate both sensing streams and model two Soft Robotics devices we have conceived. These devices are a Soft Pad and a Soft Finger. We show in an evaluation that external forces on the Soft Pad can be estimated and that the shape of the Soft Finger can be reconstructed.

In this paper tactile proximity sensors for close human-robot interactions based on a previously developed sensor are introduced. Using the same sensing technology, we developed large area tactile proximity sensors as a robot skin and small sensors which we have integrated in an anthropomorphic robot hand. Tactile sensing in the area of robotics for close human interaction is still a challenging task. In the most cases tactile sen sors need to be supported by other sensor modalities to perceive the robots environment before contacts occur. To overcome this issue we developed tactile proximity sensors for robot surfaces and for robot grippers. Both sensors, their behaviour and a model of the tactile sensor will be discussed in this paper.

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