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. Author manuscript; available in PMC: 2014 Jan 1.
Published in final edited form as: IEEE Int Conf Robot Autom. 2013:10.1109/ICRA.2013.6631200. doi: 10.1109/ICRA.2013.6631200

Fig. 6.

Fig. 6

Soft sensor manufacturing. (a) Flat channel geometry with fill ports. (b) Sensing channels filled with eGaIn. Cutting on dotted lines minimized sensor stretching during molding. (c) Completed sensor with channel-embedded PDMS sheet molded to plastic hemispherical tip and mounted on indentation cannula. Inset provides close-up view.