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Impedance-Modulated Soft Strain Sensor with High Stability for Humanoid Robots.

Yebo Tao¹, Tingting Yu², Cheng Jin³

¹College of Intelligent Manufacturing, Jiaxing Vocational & Technical College, Jiaxing Zhejiang 314036, China.

ACS Applied Materials & Interfaces

|September 12, 2025

Summary

This study introduces a novel impedance-modulated soft strain sensor for humanoid robots. It effectively suppresses interference, enhancing stability and enabling reliable strain measurement in complex robotic systems.

Keywords:

filters flexible sensors liquid metals resistive sensors resonance

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Area of Science:

Robotics
Materials Science
Electrical Engineering

Background:

Soft strain sensors are vital for humanoid robots but face interference from electrical resistance and electromagnetic fields within robots.
Existing sensors struggle with signal integrity due to internal robotic environments.

Purpose of the Study:

To develop a highly stable, impedance-modulated soft strain sensor for humanoid robots.
To overcome interference issues from line resistance, contact resistance, and electromagnetic interference (EMI).

Main Methods:

Designed a sensor using a liquid metal (LM) resistor, capacitor, and inductor as a passive band-stop filter within a soft elastomer.
Analyzed sensor stability, sensitivity, and measurement feasibility using filter theory and component selection.
Implemented a Field Programmable Gate Array (FPGA)-based system for signal acquisition.

Main Results:

The sensor converts resistance changes due to strain into impedance-modulated signals.
A series connection of resistance and inductance achieved high impedance at resonance, suppressing interference.
The sensor demonstrated immunity to EMI from humanoid robot motor drivers.

Conclusions:

The proposed impedance-modulated soft strain sensor offers high stability and EMI immunity for humanoid robots.
This technology is applicable to humanoid robots and wearable devices, improving human-robot interaction.