Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic Actuator

Optical waveguide sensors exhibit fast response, radically low power consumption, and offer one of the most efficient means of detecting bends in soft actuators. They are, however, sensitive to non-uniform deformations at high curvature and external stimuli and much remains to be done to improve their robustness and resilience. In this study, we present a series of improvements to the design and f...