Exploiting mechanical sensing in deformed surface and interface towards soft robots

The integration of flexible sensors is crucial for soft robots to perform specific tasks during complex deformation (such as bending, torsion, compression, stretching, etc.) and interactions with unstructured environments. However, it is still a significant challenge to construct high-performance flexible sensors due to the high flexibility, deformation ability, and multiple degrees of freedom of soft robots. An efficient approach is to convert the continuous deformations of soft robots into discrete representations, which enable the scientists to better understand the deformation process and clarify the impact of surface and interface on sensor performance. Thus, intelligent algorithms can be used to further optimize the number and arrangement of sensors, improving the overall efficiency and performance of the system. This paper focuses on the impact of surface interface construction on the performance of flexible sensors. First of all, based on the basic classification of flexible sensors, this paper systematically analyzes the construction strategy of the surface and interface of flexible sensors, including surface structure optimization, microstructure array design and void structure. Secondly, the preparation methods of different surface and interfaces are discussed in detail. Then, the wide application of flexible sensors in multiple fields is discussed. Finally, the future development direction of flexible sensors is summarized and prospected.