Progress in Deformation Sensing for Flexible Robots

作者：Zecai Lin, Cheng Zhou, Shaoping Huang, Weidong Chen, Guang‐Zhong Yang, Anzhu Gao · 发表于：Proceedings of the IEEE · 年份：2025 · DOI：10.1109/jproc.2025.3633933 · 被引用次数：3 · 研究领域：Advanced Sensor and Energy Harvesting Materials、Soft Robotics and Applications、Aeroelasticity and Vibration Control

Deformation of flexible robots can be practically assessed using extension/compression, shear, curvature, and torsion. Sensing based on one or more of the above characteristics enables closed-loop control for delicate tasks that require precision and dexterity. Due to the increasing popularity of flexible robotics in recent years, significant research effort has been directed to this burgeoning field. Although numerous studies have addressed soft sensing technologies, their successful integration into flexible robotic systems remains limited. This article provides a comprehensive review of sensing methods, from multidimensional deformation to the underlying principles of deriving hard-to-measure deformation from surrogate parameters. It focuses on sensing modalities such as strain measurement via piezoelectric, capacitive, resistive, and optical techniques. The applications of deformation sensing in industrial and service robotics are described. Future challenges and potential research issues including resolution, conformability, multifunctionality, crosstalk, and miniaturization are discussed. The need for a synergistic approach across disciplines is highlighted, emphasizing the integration of new materials, microstructures, advanced manufacturing technologies, and state-of-the-art signal processing techniques.