Strain-insensitive soft pressure sensor and method of measuring pressure

A soft pressure sensor comprising:

• a stretchable top electrode comprising a first elastomeric layer;
• a stretchable bottom electrode comprising a second elastomeric layer;
• an array of peaked structures between the stretchable top and bottom electrodes, the peaked structures comprising an array of stiffening electrodes on the stretchable bottom electrode and a continuous film conformally overlying the array of stiffening electrodes, the continuous film conforming to a shape of each of the stiffening electrodes such that protruding regions are formed in the continuous film, where a tip of each protruding region is in contact with the stretchable top electrode and a base of each stiffening electrode is in contact with the stretchable bottom electrode, and
• one or more spacers extending between and bonded to the stretchable top electrode and the continuous film on the stretchable bottom electrode, each of the one or more spacers being positioned outside the array of peaked structures,
• wherein a capacitance measured by the soft pressure sensor is substantially invariant under in-plane stretching.