Sensor Tendons for Soft Robot Shape Estimation

Abstract

Tensegrity robots are deformable robots that require highly-stretchable and reliable sensors for proprioception and closed-loop control. We introduce capacitive sensor tendons made of liquid metal electrodes and dielectric silicone that are capable of high strains on the order of hundreds of percent that double as the tensile elements of tensegrity robots. The electromechanical response of the sensor tendons is characterized in ultimate strain, cyclic, and relaxation experiments to demonstrate the sensors' reliability in robotics applications.