title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐµÑ Ð½Ð¾Ð»Ð¾Ð³Ð¸Ð¸ Ð¿Ð½ÐµÐ²Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Position Measurement Techniques for Soft Actuators
Creators: name: ÐÐ°ÑÑÐ¸Ð° ÐÐ¾ÑÐ°Ð»ÐµÑ ÐÐ¸ÑÐ·Ð¸Ð° Ð¡ÑÑÐ°Ð½Ð°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2018
Subjects: ÐÐ½ÐµÐ²Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¿ÑÐ¸Ð²Ð¾Ð´Ñ
Ð Ð¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ
Ð¢ÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ
ÐÐ°ÑÑÐ¸ÐºÐ¸
Ð³Ð¸Ð±ÐºÐ¸Ðµ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ñ

description: ÐÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð°Ñ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÐºÐ° ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°ÑÑÑÑ Ð½Ð¾Ð²ÑÑ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¹, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐ²Ð»ÑÑÑÑÑ ÑÐ°ÑÑÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÐºÐ¸, ÐºÐ¾ÑÐ¾ÑÐ°Ñ Ð¸ÑÐµÑ ÑÐ»ÑÑÑÐµÐ½Ð¸Ñ Ð² ÑÑÐ¾Ð¹ Ð¾Ð±Ð»Ð°ÑÑÐ¸. ÐÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð°Ñ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÐºÐ° ÑÐ°ÑÑÑ Ð½Ð¾Ð²ÑÑ Ð¿Ð¾ÐºÐ¾Ð»ÐµÐ½Ð¸Ð¹ ÑÐ¾Ð±Ð¾ÑÐ° ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐ»ÑÑÑÐ°ÑÑ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ðµ Ð¸ Ð±ÐµÐ·Ð¾Ð¿Ð°ÑÐ½Ð¾ÑÑÑ Ð²Ð¾ Ð²ÑÐµÐ¼Ñ Ð´ÐµÑÑÐµÐ»ÑÐ½Ð¾ÑÑÐ¸, Ð´Ð°Ð²Ð°Ñ ÑÐ°Ð·ÑÐµÑÐµÐ½Ð¸Ðµ Ð´Ð»Ñ ÑÐ°Ð½ÐµÐµ ÑÐ¿ÑÑÐµÐ½Ð½ÑÑ ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸Ðº ÑÑÐ¸ÑÐ°Ñ Ðº Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»ÑÐ½ÑÐ¼ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸ÑÐ¼. 
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description: Soft Robotics is part of the emerging technologies that form part of Robotics, which looks for the improvement of this field. Soft Robotics is part of the new generations of robot that improve the motion and safety during operation, giving a solution for the previously neglected features regarding to material designs. 
This brings a complete new a challenging task for researcher, due to the addition of flexible materials, the control theory need to be studied from a different perspective with different measurement instruments. Hence, where soft Sensor came up, since the traditional hard'' sensor block or decrease the original motion of a flexible material, therefore, this new research area focus on the development of a flexible sensor that can give accurate measurement of the actuator state without obstructing the motion of it, nevertheless this flexible sensor must accomplish several requirements before they can be considered for a mass production series.
This thesis is an experimental research focused on the measurement problems in this area. The aim is to define performance under general circumstances. The thesis includes the identification of possible solutions to the task, the theoretical identification of the behavior of the soft actuator and the measuring problems and finally a selection and development if some experiments for validation.