Abstract:A shape estimation method that utilizes two sensing modalities of a customized fiber Bragg grating (FBG) sensor and a commercial air pressure sensor for a pneumatically driven soft finger with an extensive bending angle range based on an artificial neural network model is proposed. The proposed FBG sensor utilizes two tiny nitinol rods as a backbone to attach the long‐grating FBG element fiber, enabling high strain transfer, shape sensing for large bending deformation, and preventing chirping failure and fiber… Show more
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