Contactless deflection sensor for soft robots

摘要: In the emerging field of soft robotics, there is an interest in developing new kinds sensors whose characteristics do not affect intrinsic compliance robot components. Additionally, non-invasive shape and deflection may provoke improved solutions to assist control mechanical parts these robots. Herein, we introduce a novel method for sensing where LED element photodiode are placed on two substrates connected physically or virtually at point. The angle between planes can be extracted from light intensity detected due bell-shaped angular profile emitted light. main advantage this system that components physical contact with region as case strain gauges similar methods. sensor characterized range deflections 105–180 degrees, showing near 1 degree resolution. experimental data compared simulations, modeled by ray tracing. vs. measurements our setup display maximum difference 9% average approximately 5% respect model. Finally, monitoring has been developed using proposed concept flexible PCB. composed 12 operate frame rate 33 Hz. This device could applied monitor body robot.