Estimation of Soft Body Deformation by Using Light

Soft robots are becoming increasingly popular due to their ability to mimic the flexibility and adaptability of biological systems. However, they still face challenges in terms of sensing and feedback methods. Elastomers can absorb light when exposed to a light source, and the absorption intensity can be varied when elastomers are on dynamic behaviour. In this paper, we explore the potential of using different light absorption properties of elastomers as a sensing and feedback technique in soft robots. We present experimental results that show the response of two most commonly encountered deformations of soft robots: linear and spherical, towards light absorption upon deformation. This concept can be used for assisting soft robotic sensing through freely available forms of light in the surrounding. Our findings suggest that using elastomers with different light absorption properties can significantly enhance the sensing performance of soft robots and open up new avenues for research in this field.