FIG. 2.

A one degree of freedom revolute joint allowed us to compare two types of feedback control: one based on measurements from a rotary encoder and another based on measurements from Smart Braid sensors. The Smart Braid sensors used in this work were placed on top of an inner, nonconductive reinforcing braid (enlarged detail, black wires are conductive, blue fibers are polyester). A force transducer in series with the connection to the left actuator measured the tension in the connection cable. Color images available online at www.liebertpub.com/soro