Table 1.

Main parameters of the device.

Items	Properties
Bend sensors	Temperature range: −35°C~+80°C; resistance tolerance: ±30%
Stm32 controller	Cores: Cortex-M3 32-bit RISC, 512 K Flash, 64 K RAM; operating frequency: 72 MHz, 1.25 DMIPS/MHz
NRF24L01	Transmission distance: 150 m; digital interface (SPI) speed: 0~10 Mbps; on the air data rate 1 or 2 Mbps
Servos	Power supply range: 7~10 V; operating temperature: −5°C~+85°C; communication speed: 7343 bps~1 Mbps