Compliant Bi-bellows actuator with PVDF force-shape sensing

Soft actuators are a key-stone for safe humanrobots interaction, but deformation of compliant manipulators complicates their control. We propose using feedback from a deflection sensor consisting of a thin piezoelectric polymer. A Bi-bellows actuator was used as test-bed for demonstrating shape-tracking during free actuation, and also detection of contact with an obstacle. This sensor will enable accurate kinematic control of compliant manipulators and introduce in conjunction force sensing capabilities.