Abstract
We employ a piezoelectric transducer polyvinylidene fluoride (PVDF) for a new application: tracking the shape of a highly flexible cantilever. The sensor was attached to the bi-bellows, a pneumatic actuator developed by the authors. We demonstrate how the sensor responds to changes of the actuator's shape and discuss its limitations. The combination of an internal pressure sensor and a PVDF sensor enables measurements of external forces applied on the actuator, in addition to its self position.
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