The concept of soft robots has garnered significant attention in recent studies due to their unique capability to interact effectively with the surrounding environment. However, as the number of innovative soft pneumatic actuators (SPAs) continues to rise, integrating traditional sensors becomes challenging due to the complex and unrestricted movements exhibited by SPA during their operation. This article explores the importance of utilising one-shot multi-material 3D printing to integrate soft force and bending sensors into SPAs. It highlights the necessity of a well-tuned and robust low-cost fabrication process to ensure the functionality of these sensors over an extended period. Fused deposition modelling (FDM) offers a cost-effective solution for embedding sensors in soft robots, directly addressing such necessity. Also, a finite element method (FEM) based on the nonlinear hyper-elastic constitutive model equipped with experimental input is developed to precisely predict the deformation and tip force of the actuators measured in experiments. The dynamic mechanical test is conducted to observe and analyse the behaviour and resistance changes of conductive thermoplastic polyurethane (CTPU) and varioShore TPU (VTPU) during a cyclic test. The flexible sensor can detect deformations in SPAs through the application of air pressure. Similarly, the force sensor exhibits the ability to detect grasping objects by detecting changes in resistance. These findings suggest that the resistance change corresponds directly to the magnitude of the mechanical stimuli applied. Thus, the device shows potential for functioning as a resistive sensor for soft actuation. Furthermore, these findings highlight the significant potential of 3D and 4D printing technology in one-shot fabrication of soft sensor-actuator robotic systems, suggesting promising applications in various fields like grippers with sensors and rehabilitation devices.

软机器人的概念由于其与周围环境有效交互的独特能力在最近的研究中引起了极大的关注。然而，随着创新软气动执行器 (SPA) 数量的不断增加，由于 SPA 在运行过程中表现出复杂且不受限制的运动，集成传统传感器变得具有挑战性。本文探讨了利用一次性多材料 3D 打印将软力和弯曲传感器集成到 SPA 中的重要性。它强调了经过精心调整和稳健的低成本制造工艺的必要性，以确保这些传感器在较长时间内发挥功能。熔融沉积建模 (FDM) 为在软机器人中嵌入传感器提供了一种经济高效的解决方案，直接解决了这种需求。还，开发了一种基于配备实验输入的非线性超弹性本构模型的有限元方法（FEM），以精确预测实验中测量的致动器的变形和尖端力。动态机械测试旨在观察和分析导电热塑性聚氨酯 (CTPU) 和 varioShore TPU (VTPU) 在循环测试过程中的行为和电阻变化。柔性传感器可以通过施加气压来检测 SPA 的变形。类似地，力传感器表现出通过检测电阻变化来检测抓取物体的能力。这些发现表明电阻变化直接对应于所施加的机械刺激的幅度。因此，该器件显示出用作软驱动电阻传感器的潜力。此外，