An optical curvature sensor for soft robots
First published in
Number in series
24th CISM IFToMM Symposium, ROMANSY 24 - Robot Design, Dynamics and Control 2022
Contribution to Conference
Springer International Publishing
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.