Improving inkjet printed flexible angle sensor performance by compression–tension sensor pair compensation

This paper introduces a new method for improved integrated angle sensing in the foldable robot joints (hinges), using low-cost inkjet printed sensors and novel physical intelligence based compensation approach. Silver nanoparticle are on flexible PET substrate as hinge material implemented pairs of compression tension side folding individuals into rigid experimental setup. Resulting combined signals individual sensor responses due to their compensating characteristics, gave far best performances existing literature terms linearity, life-time, static cyclic drift, hysteresis dynamic dependency. Proposed approach is promising eliminating major limitations use hinges paving way reliable, fully soft easy-to-fabricate all-integrated robots.