Fig. 6. Stretchable sensor pads. (a) Multitouch detection; (b) Various designs in different sizes; (c) Strong finger touch at one point; (d) Small object touch at one point. stretching. Comparing their ratio, we can see from these evaluations that the stretching influence is comparably small with respect to the influence of touch. The stretch conditions simulated in the experiment are not expected to be encountered to the evaluated extent in any of the considered applications. Conclusion The versatility of capacitive sensors and their applicability for two oppositional robust design paradigms are outlined in this paper. The achievable sensitivities have been compared based Fig. 7. Integration of soft sensors with a soft robotic finger. Fig. 8. Stretch sensitivity evaluation for a stretchable touchpad design. (a) The measurement setup; (b)-(d) The stretch condition at the beginning, in the middle and at the end of the experiment together with the elongation of the material; (e) The response to cyclic loading of the system, at the end the touchpad is exciting by a human hand touching the electrodes at its upper right end. November 2021 IEEE Instrumentation & Measurement Magazine 41