fig2

Calibration-free optical waveguide bending sensor for soft robots

Figure 2. Sensing principle of the DCLS sensor. (A) Inner optical path in the straight state; (B) Inner optical path in the bending state; (C) Spectra of the output light in the straight state (red lines), with clockwise bending (negative bending) (left) and counterclockwise bending (positive bending) (right) by 90°; (D) ΔPB and ΔPR indicate the rate of change in integrated power densities for the blue light (440-480 nm) and red light (625-665 nm), respectively. DCLS: Dual-colored layer structured.

Soft Science
ISSN 2769-5441 (Online)
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