Sensing Soft Robot Shape Using IMUs: An Experimental Investigation

Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the piecewise constant curvature model in combination with the quaternion data from IMUs to allow for accuracy reconstruction and closed-loop control. A key strength of this approach is that it is hardware agnostic, and could be used on any soft structure to provide pose reconstruction and controllability. We explore this approach experimentally on a growing, extendable 3D printed continuum body structure, demonstrating that high accuracy reconstruction that can be achieved.