A SOFT FORCE SENSOR

A soft sensor arrangement for measuring a force is presented. The soft sensor arrangement comprises a sensor, a deformable element, wherein the deformable element is deformable by the force, and an element for reacting with the sensor for measuring the force by a deformation of the deformable element, wherein the deformable element extends at least partially between the sensor and the element. In operation, the soft sensor arrangement receives a signal from the sensor reacting with the element, when the deformable element extending at least partially between the sensor and the element (130) is deformed by the force, and estimates the strength of the force from the received signal based on a predefined correlation between values of the force and values of the signal of the sensor. In addition, a gripper with at least two robotic fingers is disclosed, wherein at least one of the at least two robotic fingers comprises a soft sensor arrangement according to the invention. The gripper operates by elongating a distance between the at least two robotic fingers until the distance between the at least two robotic fingers can accommodate the object to be gripped, gripping the object by reducing the distance between the at least two robotic fingers, thereby applying a force to the object, measuring the force applied to the object by the two robotic fingers by the reaction of the sensor to the element, and controlling the movement of the at least two robotic fingers based on the measurement of the force.