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Scheme of the robotic biomimetic root with sensors integrated. (A) Soft-bending mechanism design. (B) Prototype. (C) Root tip prototype with integrated chemical sensors. (D) ISE prototype. (E) Micro-potentiometer integrated in the root tip. (F) Sensors’ position with respect to the x–y axis of the embedded accelerometer. (G) Tip architecture with chemical sensor’s front-end schematization for each of the three sensor arrays.
