This is a repository copy of Thin soft layered actuator based on a novel fabrication technique.

Soft tactile sensors are a key enabling technology for next generation robotic systems and it is imperative to develop appropriate design tools to inform their design, integration and optimisation. The use of computational models can help speed this process and minimise the need for timely emperical design methods. Here we present the use of computational multi-physics modelling as a design tool for Soft Inductive Tactile Sensors (SITS) which use variation in electromagneticallyinduced eddy-current effects as a transducer mechanism. We develop and experimentally validate 2D models which extend existing understanding to provide insight into the configuration of sensing elements for measurement of multi-axis forces and rejection of unwanted environmental disturbances. We analyse the limitations of this approach and discuss opportunities for future improvements to advance this burgeoning area.