Self-Decoupling and Hysteresis Compensation in a Soft Multi-Axis Force Sensor for Improved Performance

Abstract

Conventional soft sensors often suffer from challenges such as crosstalk, hysteresis, and limited sensitivity, which hinder their performance and broader applicability. This paper presents a multi-axis piezoresistive soft force sensor with a square-column-shaped sensing structure designed to reduce the spatial footprint and mitigate partial axial coupling effects. By integrating a Wheatstone bridge-based resistive compensation strategy, the sensor achieves self-decoupling in multi-axis force measurements. Furthermore, a generalized Preisach hysteresis model is implemented to effectively compensate for hysteresis-induced nonlinearities and input-output loop effects, significantly enhancing sensing accuracy and precision. Extensive experimental validations confirm the effectiveness of the proposed self-decoupling and hysteresis compensation methodologies, demonstrating notable improvements in sensor reliability and performance. The findings of this study establish a comprehensive framework for advancing multi-dimensional soft force sensing technologies, with promising implications for high-precision engineering and biomedical applications.