Fig. 6.

(a) Test system used for the bending test. (b) Test system used for the robotic arm bending test. The optical motion capture acquired the three markers arranged on the bending angle sensor based on double-layer capacitance, and the capacitance detection system simultaneously measured the output voltage of the bending angle sensor based on double-layer capacitance. (c) Test system used for the stretching test. When the desktop tensile compression tester stretched the bending angle sensor based on double-layer capacitance and the bending angle sensor based on single-layer capacitance, the output voltages of both the bending angle sensor based on double-layer capacitance and the bending angle sensor based on single-layer capacitance were acquired.