A surface shape measurement method using a self–shape sensor “Flexible Sensor Tube”

This study describes surface shape measurements using a Flexible Sensor Tube(FST). The FST is also a sensor for measuring self–shape. The sensor consists of many short links, and each link connects by a rotational joint connects each link with a potentiometer as an angular position sensor. Consequently, we can geometrically measure the sensor’s shape. We proposed a method for measuring the surface shape of an object by stroking it with this FST. A waterproof FST was developed, and the proposed technique was evaluated, focusing on its use in dredge construction. Therefore, we demonstrated that the newly developed FST measures surface shapes.