The somatosensory system is crucial for living beings to survive and thrive in complex environments and to interact with their surroundings. Similarly, rapidly developed soft robots need to be aware of their own posture and detect external stimuli. Bending and force sensing are key for soft machines to achieve embodied intelligence. Here, we present a soft inductive bimodal sensor (SIBS) that uses the strain modulation of magnetic permeability and the eddy-current effect for simultaneous bidirectional bending and force sensing with only two wires. The SIBS is made of a flexible planar coil, a porous ferrite film, and a soft conductive film. By measuring the inductance at two different frequencies, the bending angle and force can be obtained and decoupled. Rigorous experiments revealed that the SIBS can achieve high resolution (0.44° bending and 1.09 mN force), rapid response, excellent repeatability, and high durability. A soft crawling robot embedded with one SIBS can sense its own shape and interact with and respond to external stimuli. Moreover, the SIBS is demonstrated as a wearable human-machine interaction to control a crawling robot via wrist bending and touching. This highlights that the SIBS can be readily implemented in diverse applications for reliable bimodal sensing.

中文翻译：

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用于软机器本体感觉和触觉感知的软感应双模传感器。


体感系统对于生物在复杂的环境中生存和繁衍以及与周围环境的互动至关重要。同样，快速发展的软机器人需要了解自己的姿势并检测外部刺激。弯曲和力传感是软机器实现体现智能的关键。在这里，我们提出了一种软电感双模传感器（SIBS），它利用磁导率的应变调制和涡流效应，仅用两根导线即可同时进行双向弯曲和力传感。 SIBS由柔性平面线圈、多孔铁氧体薄膜和软导电薄膜制成。通过测量两个不同频率下的电感，可以获得弯曲角度和力并进行解耦。严格的实验表明，SIBS可以实现高分辨率（0.44°弯曲和1.09 mN力）、快速响应、优异的重复性和高耐用性。嵌入 SIBS 的软体爬行机器人可以感知自身形状，并与外部刺激互动并做出反应。此外，SIBS 被证明是一种可穿戴人机交互，可通过手腕弯曲和触摸来控制爬行机器人。这凸显了 SIBS 可以轻松地在多种应用中实现，以实现可靠的双模传感。