Gabriel Hein

An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots

In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on the joint. As the bellows extend, these coils of wire become…