arxivcs.RO2026-07-17
A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
Francesco Stella, Annan Zhang, Cosimo Della Santina, Josie Hughes, Daniela Rus
Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains challenging. We present a model-based strategy that decouples proprioceptive and contact signals from a c…