“…Meanwhile, pre-exposure perception, encompassing chemical, electromagnetic, auditory, and visual perception, holds paramount importance for organisms. Inspired by biology, a large number of precontact sensing techniques have been investigated in soft robots, such as ultrasonic sensing, , infrared sensing, optical sensing, − biosensing, laser sensing, magnetic sensing, , and capacitive sensing. , Among these techniques, capacitive sensing in soft robotics has some significant advantages. It owns the advantages of simple structure, high sensitivity, flexible design, low detection limit, wide application range, and endurability, which have been widely studied in pressure sensing, − strain sensing, , and noncontact sensing. , This makes capacitive sensing a promising approach to soft robot perception.…”