A Soft Resistive Sensor with a Semicircular Cross-Sectional Channel for Soft Cardiac Catheter Ablation.

The field of soft robotics has attracted the interest of the medical community due to the ability of soft elastic materials to traverse the abnormal environment of the human body. However, sensing in soft robotics has been challenging due to the sensitivity of soft sensors to various loading conditions and the nonlinear signal responses that can arise under extreme loads. Ideally, soft sensors should provide a linear response under a specific loading condition and provide a different response for other loading directions.