Towards a miniaturized embeddable bend sensor for multi-DOF robotic systems

Abstract

The size of sensors and electronics needed to measure absolute joint rotation imposes constrains on the miniaturization of multi-DOF robotic systems such as robotic fingers and miniaturized insect-inspired robots. The possibility to use optical fibers embedded on a robotic system and measure the bend loss to detect rotation is assessed in order to develop a future miniaturized sensor. Motivation of the proposed investigation, experimental and theoretical analyses, and future perspectives are presented.