A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator

arXiv:2607.15582v1 Announce Type: new Abstract: 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 common set of fluidic pressure sensors embedded in a soft architected segment. Each segment of the Innervated Trimmed Helicoid (ITH) contains six air channels routed in a l