US 12,268,491 B2
Sensor system for determining the shape of a deformable structure
James Avery, Beckenham (GB); Mark Runciman, London (GB); and George Mylonas, London (GB)
Assigned to IMPERIAL COLLEGE INNOVATIONS LIMITED, London (GB)
Appl. No. 17/416,959
Filed by IMPERIAL COLLEGE INNOVATIONS LIMITED, London (GB)
PCT Filed Dec. 20, 2019, PCT No. PCT/GB2019/053657
§ 371(c)(1), (2) Date Jun. 21, 2021,
PCT Pub. No. WO2020/128509, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 1821129 (GB), filed on Dec. 21, 2018.
Prior Publication US 2022/0079466 A1, Mar. 17, 2022
Int. Cl. G01B 7/16 (2006.01); A61B 5/06 (2006.01); A61B 34/30 (2016.01); A61B 5/0536 (2021.01)
CPC A61B 5/063 (2013.01) [A61B 34/30 (2016.02); G01B 7/16 (2013.01); A61B 5/0536 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A sensor system comprising:
a deformable structure;
a plurality of electrodes operably connectable to the deformable structure;
an electrical conductor operably connected to the deformable structure and electrically couplable to each of the electrodes;
a plurality of current sources wherein each current source is connectable to predetermined electrodes and produces an alternating current frequency different to those produced by the remaining current sources;
a current injector for injecting current from each current source through predetermined electrodes;
a voltage recorder for recording the voltage between predetermined pairs of electrodes;
an analyser for analysing voltage recordings to thereby determine the shape of the deformable structure; and
a controller for controlling locomotion or actuation of a soft robot according to the determination of the shape of the deformable structure.