This paper presents a novel design for an inherently integrated microfiber-based flexible proprioceptive sensor within a pneumatic fiber-reinforced soft actuator. The sensor, comprising two parallel conductive microfibers acting as both radial expansion limiting fibers and capacitive electrodes, enables real-time proprioception without additional components. The actuator demonstrates excellent mechanical actuation (up to 240° bending) and high sensitivity (1.2 pF rad⁻¹). Mathematical analysis and simulations accurately predict actuation and capacitive responses. Applications showcased include a soft gripping system and a prosthetic hand exhibiting dexterous manipulation with real-time proprioceptive feedback.

Hwajoong Kim, Hyunbin Na, Seungbeom Noh, Shinwon Chang, Jinho Kim, Taejune Kong, Gyowook Shin, Chankyu Lee, Seonggyu Lee, Yong-Lae Park, Sehoon Oh, Jaehong Lee