Flexible Linear Absolute Encoder System for Force Localization in Soft Environments

This paper proposes a novel disposable linear absolute encoder system and its peripheral electronic readout circuitry to be used for the localization of force in a continuum media such as a flexible robotic arm. The proposed structure relies on the design of graphite layers on a flexible surface that shows varying resistance based on the applied strain. The proposed topology can localize the force applied on a continuous paper based sensor having the geometry of an absolute encoder system. The successful results obtained from the experiments prove the efficacy of the proposed system while opening new paradigms for the possibility of contact force localization in flexible structures like soft robots.