FIG. 9.

(A) Top view of the collision detection experiment with the location of the aluminum standoff obstacle at 18, 58, and 98 mm relative to the base of the actuator. (B) Depicts the instant the soft actuator contacts the obstacle. The shape of the sensor is recorded as FOSS state 0. (C) Depicts the deformation of the actuator-sensor combination some distance further down the linear stage. The shape of the sensor is recorded as state 1. (D) Diagram of the shape data from states 0 and 1 overlaid to identify their intersection and thus the location of the obstacle. Color images are available online.