Science Robotics

The PDF file includes:

• Table S1. Training performance of the kinematic model.
• Fig. S1. Overview of the modeling architecture and its parallel to the human perceptive system.
• Fig. S2. Differences between a commercial flex sensor and the cPDMS sensor.
• Fig. S3. Sensor response to tip contact.
• Fig. S4. Intersensor dependencies.
• Fig. S5. Contribution of pressure information for drift compensation.
• Fig. S6. Schematic of sensor fabrication process.
• Fig. S7. Sensor topology.
• Fig. S8. Schematic of the motion of the 2-DoF actuators.
• Fig. S9. Schematic of the experimental setup.
• Fig. S10. Diagram showing how contact along the continuum of the actuator results in a deformation that propagates throughout the system.
• Fig. S11. Diagram of how we obtain the force measurement at the tip of the actuator using a load cell.

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Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). Kinematic prediction with the cPDMS sensors—without contact.
• Movie S2 (.mp4 format). Kinematic prediction with the cPDMS sensors—contact at tip.
• Movie S3 (.mp4 format). Kinematic prediction with the cPDMS sensors—contact along the finger.
• Movie S4 (.mp4 format). Kinematic prediction with the commercial flex sensors—without contact.
• Movie S5 (.mp4 format). Kinematic prediction with the commercial flex sensors—contact at tip.
• Movie S6 (.mp4 format). Kinematic prediction with the commercial flex sensors—contact along the finger.
• Movie S7 (.mp4 format). Force sensing experiment with the cPDMS sensors.
• Movie S8 (.mp4 format). Experiment with the cPDMS sensors showing that the same learned model is sensitive to contact anywhere along the arm.