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In soft robotics, actuators, logic and power systems can be entirely fluidic and electronics-free. However, sensors still typically rely on electric or optical principles. This adds complexity to fluidic soft robots because transducers are needed, and electrical materials have to be incorporated. Herein, we show a highly-stretchable pneumatic strain gauge based on a meandering microchannel in a soft elastomer material thus eliminating the need for an electrical signal in soft robots. Using such pneumatic sensors, we demonstrate an all-pneumatic gripper with integrated pneumatic strain gauges that is capable of autonomous closure and object recognition. The gauges can measure at least up to 300% engineering strains. The sensor exhibits a very stable signal over a 12-hour measurement period with no hysteresis. Using pneumatic sensors, all four major components of robots—actuators, logic, power, and sensors—can be pneumatic, enabling all-fluidic soft robots with proprioception and exteroception.

Capacitive sensors have many applications in tactile sensing, human-machine interfaces, on-body sensors, and patient monitoring. Particularly in biomedical applications, it would be beneficial if the sensor is disposable and readily degradable for efficient recycling. In this study, we report a biodegradable capacitive tactile pressure sensor based on sustainable and bio resourced materials. Silver-nanowire-coated rubber tree leaf skeletons are used as transparent and flexible electrodes while a biodegradable clear tape is used as the dielectric layer. The fabricated sensor is sensitive and can respond to low pressures (7.9 mN when pressed with a probe with a surface area of 79 mm2 / 0.1 kPa) ranging to relatively high pressures (37 kPa), with a sensitivity up to ≈ 4.5×10-3 kPa-1. Owing to all bio resourced constituents, the sensor is biodegradable and does not create electronic waste. publishedVersion

Bioinspired, highly flexible, fast, and biodegradable heaters are fabricated based on Ag nanowires and leaf skeletons of different plant species. The leaf skeletons act as transparent substrates with a high surface-area-to-volume ratio and allow a uniform dispersion of the Ag nanowires through the surface. Ag nanowires adhered to the leaf skeletons display very good transmittance (up to ≈87%) and mechanical (flexibility) properties (curvature values >800 m−1) without any post-treatment. The flexible leaf skeleton-based heaters reach high temperatures very quickly, with very low voltages (