Impact of Pattern Design on the Performance of Kirigami-Inspired Flexible Piezoresistive Strain Sensors

Soft robotics has gained significant attention due to its flexibility, compliance, and safety advantages over traditional rigid robots. However, accurately modeling posture perception in soft robots remains a challenge. This study focuses on investigating flexible piezoresistive sensors, particularly kirigami-inspired structures, for posture sensing in soft robots. A set of meticulously designed kirigami-inspired sensors with different geometric configurations is fabricated and evaluated. Mechanical and electrical properties are determined and compared, and the sensors' performance is rigorously evaluated. Results show that the choice of kirigami pattern significantly affects sensor performance, with error percentages as low as 3.8% and stretching limits exceeding 1200% achieved with appropriate pattern selection. The findings highlight the potential of these sensors for accurately perceiving the posture of soft actuators. Our research holds potential for contributing to the advancement of dynamic posture perception and closed-loop control in the field of soft robotics.