In the past few years, soft robotics has rapidly become an emerging research topic, opening new possibilities for addressing real‐world tasks. Perception can enable robots to effectively explore the unknown world, and interact safely with humans and the environment. Among all extero‐ and proprioception modalities, the detection of mechanical cues is vital, as with living beings. A variety of soft sensing technologies are available today, but there is still a gap to effectively utilize them in soft robots for practical applications. Here, the developments in soft robots with mechanical sensing are summarized to provide a comprehensive understanding of the state of the art in this field. Promising sensing technologies for mechanically perceptive soft robots are described, categorized, and their pros and cons are discussed. Strategies for designing soft sensors and criteria to evaluate their performance are outlined from the perspective of soft robotic applications. Challenges and trends in developing multimodal sensors, stretchable conductive materials and electronic interfaces, modeling techniques, and data interpretation for soft robotic sensing are highlighted. The knowledge gap and promising solutions toward perceptive soft robots are discussed and analyzed to provide a perspective in this field.

中文翻译：

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迈向感知软机器人：进展与挑战

在过去的几年中，软机器人技术迅速成为一个新兴的研究课题，为解决现实世界的任务开辟了新的可能性。感知可以使机器人有效地探索未知世界，并与人类和环境安全地交互。在所有外感受和本体感受方式中，机械线索的检测至关重要，就像生物体一样。目前有多种软传感技术可供使用，但在软机器人的实际应用中有效利用它们仍然存在差距。这里总结了具有机械传感功能的软机器人的发展，以提供对该领域最新技术的全面了解。描述、分类了有前途的机械感知软机器人传感技术，并讨论了它们的优缺点。从软机器人应用的角度概述了设计软传感器的策略和评估其性能的标准。强调了开发多模态传感器、可拉伸导电材料和电子接口、建模技术以及软机器人传感数据解释的挑战和趋势。对感知软机器人的知识差距和有前景的解决方案进行了讨论和分析，以提供该领域的视角。