Multiplexed Weak Waist-Enlarged Fiber Taper Curvature Sensor and Its Rapid Inline Fabrication

This study proposes a multiplexed weak waist-enlarged fiber taper (WWFT) curvature sensor and its rapid fabrication method. Compared with other types of fiber taper, the proposed WWFT has no difference in appearance with the single mode fiber and has ultralow insertion loss. The fabrication of WWFT also does not need the repeated cleaving and splicing process, and thereby could be rapidly embedded into the inline sensing fiber without splicing point, which greatly enhances the sensor solidity. Owing to the ultralow insertion loss (as low as 0.15 dB), the WWFT-based interferometer is further used for multiplexed curvature sensing. The results show that the different curvatures can be individually detected by the multiplexed interferometers. Furthermore, it also shows that diverse responses for the curvature changes exist in two orthogonal directions, and the corresponding sensitivities are determined to be 79.1°/m−1 and –48.0°/m−1 respectively. This feature can be potentially applied for vector curvature sensing.

Shape Memory Alloy (SMA) Actuator With Embedded Liquid Metal Curvature Sensor for Closed-Loop Control

We introduce a soft robot actuator composed of a pre-stressed elastomer film embedded with shape memory alloy (SMA) and a liquid metal (LM) curvature sensor. SMA-based actuators are commonly used as electrically-powered limbs to enable walking, crawling, and swimming of soft robots. However, they are susceptible to overheating and long-term degradation if they are electrically stimulated before they have time to mechanically recover from their previous activation cycle. Here, we address this by embedding the soft actuator with a capacitive LM sensor capable of measuring bending curvature. The soft sensor is thin and elastic and can track curvature changes without significantly altering the natural mechanical properties of the soft actuator. We show that the sensor can be incorporated into a closed-loop “bang-bang” controller to ensure that the actuator fully relaxes to its natural curvature before the next activation cycle. In this way, the activation frequency of the actuator can be dynamically adapted for continuous, cyclic actuation. Moreover, in the special case of slower, low power actuation, we can use the embedded curvature sensor as feedback for achieving partial actuation and limiting the amount of curvature change.