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The general trend in damage detection follows the bio-inspired approach of nervous tissue that mimics the pain perception of living organisms (Li et al., 2021). To simulate the nervous system of the skin, researchers commonly embed a network of sensors into the soft matter of a robot. For instance, Markvicka et al. (2019) proposed to fill the matrix of elastomer with droplets of liquid metal. Damage in such a system leads to a change in the local conductivity by creating electrically conductive pathways. In the study by Thostenson and Chou (2006) and Hong and Su (2012), the strain and damage of material were measured by embedding carbon nanotube and conductive microwire networks, respectively. Pu et al. (2018) proposed the use of a carbon nanotube network for both detecting cracks and self-healing by increasing local temperature through applied electric current. Similarly, Khatib et al. (2020) embedded the flexible conductive carbon black wire into the layered architecture of the artificial skin. Damage to this network cuts the current flow, which helps to detect the damage. A single conductive carbon black wire was used for damage detection in the study by Georgopoulou et al. (2021) by monitoring the strain signal. In order to localize the damage, George Thuruthel et al. (2021) proposed the use of a network of air chambers connected to a piezoresistive pressure sensor. The sudden changes in pressure indicate the damage. A couple of these sensors allow localizing the damage by estimating the delay between spikes in pressure signals. The main disadvantage of these techniques is that the sensors are embedded in the manufacturing process and are difficult to apply to a readily available soft robot. Additionally, these methods can be more prone to failure in high-demand repetitive usage due to additional sensor circuits and wiring, which makes this approach less favorable for industrial applications, e.g., soft grippers (Hughes et al., 2016). Non-invasive damage detection is also crucial for cost reduction, where damage detection sensors are continuously in use, while the worn-out robotic elements can be replaced multiple times. The ultimate goal of the current research is to detect and localize the damage without embedding the sensing elements into the soft matter. 153554b96e
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