An optical curvature sensor for soft robots

Publikationstyp
Conference Paper
Date Issued
2022
Sprache
English
Author(s)
Grube, Malte  
Seifried, Robert  orcid-logo
Institut
Mechanik und Meerestechnik M-13  
TORE-URI
http://hdl.handle.net/11420/12970
First published in
CISM International Centre for Mechanical Sciences, Courses and lectures  
Number in series
606
Start Page
125
End Page
132
Citation
24th CISM IFToMM Symposium, ROMANSY 24 - Robot Design, Dynamics and Control 2022
Contribution to Conference
24th CISM IFToMM Symposium, ROMANSY 24 - Robot Design, Dynamics and Control 2022  
Publisher DOI
10.1007/978-3-031-06409-8_13
Scopus ID
2-s2.0-85133213736
Publisher
Springer International Publishing
Peer Reviewed
true
For precise control of soft robots soft sensors are required to measure the current configuration of the robot. In this contribution a new simple, accurate and easy to fabricate soft optical curvature sensors is presented. The optical sensor is based on the light loss along several polymer optical cable (POF) pieces which are lined up. This includes presentation of design, fabrication, performance evaluation and integration in a simple soft robot segment.
Subjects
soft robotics
curvature sensor
DDC Class
004: Informatik
600: Technik
620: Ingenieurwissenschaften