Modelling of Uniaxial EGaIn-Based Strain Sensors for Proprioceptive Sensing of Soft Robots

• Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 7474 - 7480
• Main Authors: Al-Azzawi, Abdullah, Boudali, A. Mounir, Kong, He, Goktogan, Ali H., Sukkarieh, Salah
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.11.2019

Soft strain resistive sensors based on eutectic gallium-indium liquid metal can play an important role in proprioceptive sensing for soft robots. However, there are no available mathematical models to accurately estimate the strain as a function of the measured resistance. Furthermore, non-uniform s...