Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots

Publication Name

2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021


Due to the large deformation and diversity of soft structures, many convenient sensors are hard to be used in soft robots/actuators. Although many novel flexible sensors have been developed in recent years, it is still difficult to accurately sense the shape and force of soft robots/actuators. In this paper, a shape sensing method and a variable-stiffness beam model are proposed to realize the shape and one-dimensional external force sensing, based on the SMA planar actuator(SPA) structure, with a strain gauge array sensing system. A shape reconstruction experiment and a force sensing experiment of a variable external force were implemented and the results validated the effectiveness and the accuracy of the above sensing methods, which extend application capability of the SMA-based soft actuator.

Open Access Status

This publication is not available as open access

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Funding Sponsor

National Natural Science Foundation of China



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