National Centre of Competence in Research Robotics

Here we describe a sensor capable of perceiving complex one-dimensional (1-D) shape of an underlying substrate in a static and dynamic manner. The sensor consists of seven, serially connected, hyper-flexible strain gauges, manufactured using stretchable-gold-conductor-deposited-on-PDMS technology. The custom designed read-out scheme allows decoupling strain-sensitive resistances of the strain-gauges from the parasitic pressure- and temperature-sensitive resistances of the connectors. The developed prototype device confirms full operation within the tested deflections ranging from 0° to 35°, showing an average sensitivity of 36 W/° and an average resolution of 0.22°. The read-out frequency of 100 Hz allows quick scanning of the whole sensor array.