Embodied Sensing for Closed-Loop Manipulation in an Integrated Magnetic Soft Robot

However, existing sensing strategies predominantly emphasize the detection of biophysical or biochemical signals or magnetic field measurements, providing limited insight into robots’ internal mechanical behaviors and their interactions with surrounding environments.

This gap hinders the realization of high-precision manipulation of robotic systems. Here, we present an integrated magnetic soft robotic platform that integrates two flexible sensors, including a tension sensor and a pressure sensor, directly within a magnetic composite. By coupling embodied sensing with magnetic actuation, the robotic platform achieves feedback-driven, closed-loop manipulation.