Catheter-deployable soft robotic sensor arrays and processing of flexible circuits

A method comprising:

• aligning at least one flexible circuit with a soft actuator, each flexible circuit of the at least one flexible circuit including:
• a plurality of blocks of an insulation layer including a one or more circuit components, each block connected to an adjacent block via one or more connectors made from the insulation layer;
• and
• one or more electrically conductive structures deposited on and defining a first surface of the one or more connectors, the one or more electrically conductive structures extending between and across the plurality of blocks;
• and
• laminating the at least one flexible circuit with a polymer sheet on a surface of the soft actuator to form a soft robotic device, the polymer sheet configured to provide, for the at least one flexible circuit, insulation and mechanical fixation to the soft actuator.

An apparatus comprising:

• an inflatable actuator;
• and
• one or more flexible circuits laminated with one or more polymer sheets on a surface of the inflatable actuator, each flexible circuit including:
• a plurality of blocks of an insulation layer including a one or more circuit components, each block connected to an adjacent block via one or more connectors made from the insulation layer;
• and
• one or more electrically conductive structures deposited on and defining a first surface of the one or more connectors, the one or more electrically conductive structures extending between and across the plurality of blocks.