In this paper, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of a soft capacitive sensor to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the deformation. Using a FEM-based numerical approach, we integrate both sensing streams and model two Soft Robotics devices we have conceived. These devices are a Soft Pad and a Soft Finger. We show in an evaluation that external forces on the Soft Pad can be estimated and that the shape of the Soft Finger can be reconstructed.

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An enormous thanks to Prof. Dr. Raf RAMAKERS for all his input and support in making this project happen. He provided me with very fast feedback on the work I did, helped with innovative ideas to solve problems and provided me with all the materials and tools that I required. Providing materials and tools is often taken for granted as the duty of the supervisor, but he was proactive in asking if other kinds of material or equipment where needed and when you asked to order a product, it was often ordered the same day. These little details make a big impact in the workflow of a project and me as a student felt supported. The same is true in the way he gave feedback and possible solutions on certain problems or ideas. He knows, and wants to know, in detail how a certain aspect of the software or process functions, which makes his ideas and feedback very practical and on point. Lastly a big thanks for the opportunity to turn this project into a paper. I probably didn't state this enough in person, but I am very glad that I was able to participate in the creation of a paper. I am very happy that i got to do it. Also a round of applause to Prof. Ph.D. Daniel ASHBROOK and Dany LEEN who both provided feedback on my work despite both being very busy. They also contributed on the paper about this project. A good portion of the pictures from this project are taken and edited by Dany. Thanks to the both of you. Lastly thanks to Jose Maria TIJERINA MUNOZ, or 'Chema', for helping me out on little things like problems with the lasercutter, casting resin, finding a tool, ... And my girlfriend Charlotte for having to put up with me when I needed to write(i don't like writing at all) or when I had no time while working the paper or around other deadlines.