Full Content is available to subscribers

Subscribe/Learn More  >

Integrated Curvature Sensing of Soft Bending Actuators Using Inertial Measurement Units

[+] Author Affiliations
Arthur Seibel, Lars Schiller

Hamburg University of Technology, Hamburg, Germany

Paper No. IMECE2018-87104, pp. V009T12A034; 6 pages
  • ASME 2018 International Mechanical Engineering Congress and Exposition
  • Volume 9: Mechanics of Solids, Structures, and Fluids
  • Pittsburgh, Pennsylvania, USA, November 9–15, 2018
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5214-9
  • Copyright © 2018 by ASME


We introduce a sensor concept for an integrated measurement of the curvature angle of soft bending actuators using inertial measurement units (IMUs). In particular, IMUs are placed at both ends of the soft bending actuator, and the integrated magnetic sensors are used for small and the integrated acceleration sensors for medium and large inclination angles of the soft actuator’s bending plane. The experimental results show absolute measurement errors of up to 20° for small and less than 5° for medium and large inclination angles. Furthermore, we investigate experimentally whether the assumption of a constant curvature in our sensor concept is still fulfilled when the soft bending actuator is loaded by an external force at its free end. The results indicate that this is the case for loading masses of up to 30 g at large inclination angles.

Copyright © 2018 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In