The goal of these experiments is to find a suitable solution for an underwater hand with flexures at the joints. As noted elsewhere, Jentoft and Howe [2011,2012] describe a flexure sensing approach using emitter/detector pairs and optical fibers.
As a simple solution, a 2.2 inch Sparkfun flex sensor was tested by affixing it to a sheet of corrugated cardboard and flexed.
- L. Jentoft and R. Howe, Force sensing with compliant joints, 7th ACM/IEEE Intl. Conf. on Human-Robot Interaction, 5 March 2012, Boston.
- L. P. Jentoft and R. D. Howe. Determining object geometry with compliance and simple sensors. In 2011 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2011), pages 3468 –3473, sept. 2011.