光ファイバセンサを用いた柔軟アーム姿勢検出技術の開発

抄録

It is difficult to grasp the posture of the soft robot arm since they have low rigidity and high degree of freedom and bend in various directions and positions. So the development of a method to grasp the posture is desired. In this study, we proposed a method of estimating the bending angle and the bending direction by arranging three optical fibers on a soft robot arm and measuring the amount of light attenuation by bending each optical fiber. We experimentally confirmed its practicality, and confirmed that the proposed method can estimate the approximate bending angle and the approximate bending direction.