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. Author manuscript; available in PMC: 2014 Jan 1.
Published in final edited form as: IEEE Int Conf Robot Autom. 2013:10.1109/ICRA.2013.6631200. doi: 10.1109/ICRA.2013.6631200

Fig. 5.

Fig. 5

Schematic of sensing channel unwrapping from spherical onto planar geometry. Inset portrays actual lithography mask used to pattern the three sensing channels of the planar array. Each sensor arm in the lithography mask is the same shape as the unwrapped channel shape illustrated in the main figure.