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The sensing signals of mechanical deformation and temperature changes are often hard to differentiate manually. Herein, two hydrogel sensors are used for simultaneously proprioceptive, thermoceptive, and mechanoreceptive sensing. These stretchable sensors show high sensitivity to strain and temperature changes. Then, a machine learning model composed of a 1D convolutional neural network and a feed\u2010forward neural network is utilized to decode the sensing signal for various stimuli identification. It is demonstrated that the proposed method can accurately predict the soft actuator's body posture changes, such as bending, twisting, and stretching. In addition, the model can discern contact events with or without thermal stimuli. This data\u2010driven method for multimodal sensing discrimination might pave the way for future intelligent soft robots.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200089","type":"journal-article","created":{"date-parts":[[2022,7,8]],"date-time":"2022-07-08T16:49:53Z","timestamp":1657298993000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":48,"title":["Discriminating Soft Actuators\u2019 Thermal Stimuli and Mechanical Deformation by Hydrogel Sensors and Machine Learning"],"prefix":"10.1002","volume":"4","author":[{"given":"Zhaojia","family":"Sun","sequence":"first","affiliation":[{"name":"Department of Control Engineering Northeastern University  Qinhuangdao Hebei 066001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0038-1347","authenticated-orcid":false,"given":"Shuyu","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Control Engineering Northeastern University  Qinhuangdao Hebei 066001 China"},{"name":"Northeastern University-Qinhuangdao campus Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology  Qinhuangdao 066004 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuliang","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Control Engineering Northeastern University  Qinhuangdao Hebei 066001 China"},{"name":"Northeastern University-Qinhuangdao campus Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology  Qinhuangdao 066004 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhitao","family":"Zhong","sequence":"additional","affiliation":[{"name":"Department of Control Engineering Northeastern University  Qinhuangdao Hebei 066001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lei","family":"Zuo","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering Virginia Tech  Blacksburg VA 24061 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2022,7,8]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz9239"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aav1488"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3010738"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.nanoen.2020.105171"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202102069"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.201800541"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2021.113006"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1039\/D0MH01594F"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201706383"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201402574"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd5483"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aba5132"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.abe7366"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2779542"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900145"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1002\/adem.201700016"},{"key":"e_1_2_8_18_1","doi-asserted-by":"crossref","unstructured":"R.Zuo Z.Zhou B.Ying X.Liu presented atIEEE Int. 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