Liquid Metal Flexible 3-Axis Force Sensor on a Deformable Pneumatic Balloon for Sensor Attitude Control

This paper presents a novel method for fabricating flexible 3-axis force sensors by standing strain gauges using a pneumatic balloon. The sensor, composed entirely of flexible materials, features a compact hemispherical sensing area 3 mm in diameter. Three liquid metal strain gauges are integrated on a deformable balloon, enabling attitude control and 3-axis force detection (Fx, F<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">y</inf>, Fz). Its flexible film structure allows adaptability to curved surfaces and delicate objects. Owing to its flexibility, compactness, and safety, the sensor holds promise for applications in wearable devices and robotics.