Continuum sensingExpert
Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion
This arXiv preprint introduces a camera-free shape-sensing system for a modular tendon-driven continuum robot. Onboard IMUs and PCB-coil magnetic fields are fused through a learned joint model, producing 16.7 Hz backbone updates and pooled 10.0 mm backbone RMSE across 20 real-robot trials. It matters because it enables closed-loop control of soft manipulators when external vision is unavailable or occluded.