Liquid Metal Flexible 3-Axis Force Sensor on a Deformable Pneumatic Balloon for Sensor Attitude Control

This paper presents a novel method for fabricating flexible 3-axis force sensors by standing strain gauges using a pneumatic balloon. The sensor, composed entirely of flexible materials, features a compact hemispherical sensing area 3 mm in diameter. Three liquid metal strain gauges are integrated on a deformable balloon, enabling attitude control and 3-axis force detection (Fx, Fy, Fz). Its flexible film structure allows adaptability to curved surfaces and delicate objects. Owing to its flexibility, compactness, and safety, the sensor holds promise for applications in wearable devices and robotics.