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​Single Joint

The first step in our research was to use a single soft joint to develop code and electronics that would work with constant curvature estimation. We compared our string potentiometer results to that of the VIVE Pucks currently used in the lab to prove the data collected from the string potentiometers was correct. 




​​Three Joint Arm

The second step in our research was to integrate the string potentiometers into an arm with multiple soft joints. Each joint carries two string potentiometers that works with the constant curvature estimation code to model the arm as it moves.




​Inflection Point Modeling

The third and future step in our research is to implement code that will model an inflection point for a soft joint to better understand how loads affect the shape of a soft joint and to improve the accuracy of the model. This work builds off of the research performed by Christian Sorensen, whose research page is linked here. 

Gallery