Soft Bending Actuation Module with Proprioceptive Curvature Sensing

This article introduces the proprioceptive magnetic curvature sensor design and fabrication and the method how to embed the senor inside soft bending actuation module. Figure 1 shows the soft bidirectional bending actuator with curvature sensor.


Figure.1 CAD model (left) and experimental prototype (right) of the proposed soft bidirectional bending actuator module with integrated curvature sensing.

This documentation set contains files and instructions to support the Design and Fabrication of curvature sensor and soft bending actuator with curvature sensor, The FEA analysis for the optimal sensor design and Testing. The curvature sensor is able to be embeded in the soft actuator.