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Integrating sensors into these grippers can enable their proprioception but must avoid compromising flexibility or functionality. This study presents a pneumatic finger\u2010based soft gripper with a novel piezoresistive sensor made of laser\u2010induced graphene (LIG) embedded in dragon skin (DS), an elastomer matrix, offering continuous bending angle measurement. The LIG\/DS composite is studied to confirm minimal impact on the gripper's stiffness. Mechanical and electromechanical characterizations are performed for two sensor designs,\n                    <jats:italic>n<\/jats:italic>\n                    <jats:sub>1<\/jats:sub>\n                    and\n                    <jats:italic>n<\/jats:italic>\n                    <jats:sub>2<\/jats:sub>\n                    . Design\n                    <jats:italic>n<\/jats:italic>\n                    <jats:sub>1<\/jats:sub>\n                    exhibits superior performance, with a gauge factor , a linear response of up to 30% strain, and durability exceeding 10\u2009000 cycles. A finite\u2010element method analysis identifies the fingers\u2019 neutral bending plane, guiding optimal sensor placement. Experimental validation confirms theoretical predictions and finds the ideal sensor location, achieving a linear response up to 110\u00b0 with low hysteresis (8%). The sensor enables real\u2010time monitoring of finger bending during grasping tasks, with a calibration curve linking resistance changes to bending angles. This cost\u2010effective, stretchable, and durable sensor demonstrates high potential for soft robotic applications, offering precise and reliable proprioception without compromising the gripper's soft properties.\n                  <\/jats:p>","DOI":"10.1002\/aisy.202401071","type":"journal-article","created":{"date-parts":[[2025,3,11]],"date-time":"2025-03-11T09:54:06Z","timestamp":1741686846000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Soft Robots Proprioception Through Stretchable Laser\u2010Induced Graphene Strain Sensors"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0897-9172","authenticated-orcid":false,"given":"Giovanna","family":"De Luca","sequence":"first","affiliation":[{"name":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna  Viale Rinaldo Piaggio 34 56025 Pontedera Italy"},{"name":"Department of Excellence in Robotics and AI Scuola Superiore Sant\u2019Anna  Piazza Martiri della Libert\u00e0 33 56127 Pisa Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7720-6419","authenticated-orcid":false,"given":"Anna Chiara","family":"Bressi","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna  Viale Rinaldo Piaggio 34 56025 Pontedera Italy"},{"name":"Department of Excellence in Robotics and AI Scuola Superiore Sant\u2019Anna  Piazza Martiri della Libert\u00e0 33 56127 Pisa Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Radan","family":"Pathan","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna  Viale Rinaldo Piaggio 34 56025 Pontedera Italy"},{"name":"Department of Excellence in Robotics and AI Scuola Superiore Sant\u2019Anna  Piazza Martiri della Libert\u00e0 33 56127 Pisa Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3871-0940","authenticated-orcid":false,"given":"Niccol\u00f2","family":"Pagliarani","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna  Viale Rinaldo Piaggio 34 56025 Pontedera Italy"},{"name":"Department of Excellence in Robotics and AI Scuola Superiore Sant\u2019Anna  Piazza Martiri della Libert\u00e0 33 56127 Pisa Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0748-8294","authenticated-orcid":false,"given":"Martina","family":"Maselli","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna  Viale Rinaldo Piaggio 34 56025 Pontedera Italy"},{"name":"Department of Excellence in Robotics and AI Scuola Superiore Sant\u2019Anna  Piazza Martiri della Libert\u00e0 33 56127 Pisa Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2899-8389","authenticated-orcid":false,"given":"Francesco","family":"Greco","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna  Viale Rinaldo Piaggio 34 56025 Pontedera Italy"},{"name":"Department of Excellence in Robotics and AI Scuola Superiore Sant\u2019Anna  Piazza Martiri della Libert\u00e0 33 56127 Pisa Italy"},{"name":"Interdisciplinary Center on Sustainability and Climate Scuola Superiore Sant\u2019Anna  Piazza Martiri della Libert\u00e0 33 56127 Pisa Italy"},{"name":"Institute of Solid State Physics NAWI Graz, Graz University of Technology  Petersgasse 16 8010 Graz Austria"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9016-8039","authenticated-orcid":false,"given":"Matteo","family":"Cianchetti","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna  Viale Rinaldo Piaggio 34 56025 Pontedera Italy"},{"name":"Department of Excellence in Robotics and AI Scuola Superiore Sant\u2019Anna  Piazza Martiri della Libert\u00e0 33 56127 Pisa Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2025,3,2]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"crossref","unstructured":"Z.Samadikhoshkho K.Zareinia F.Janabi\u2010Sharifi in2019 IEEE Canadian Conf. 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