Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control

Research output: Contribution to journalResearch articleContributedpeer-review



Soft actuators are a promising option for the advancing fields of human-machine interaction and dexterous robots in complex environments. Shape memory alloy wire actuators can be integrated into fiber rubber composites for highly deformable structures. For autonomous, closed-loop control of such systems, additional integrated sensors are necessary. In this work, a soft actuator is presented that incorporates fiber-based actuators and sensors to monitor both deformation and temperature. The soft actuator showed considerable deformation around two solid body joints, which was then compared to the sensor signals, and their correlation was analyzed. Both, the actuator as well as the sensor materials were processed by braiding and tailored fiber placement before molding with silicone rubber. Finally, the novel fiber-rubber composite material was used to implement closed-loop control of the actuator with a maximum error of 0.5 .


Original languageEnglish
Issue number2
Publication statusPublished - 10 Jan 2022

External IDs

Scopus 85122766826
PubMed 35057234
Mendeley 3d00c69f-7b1a-3ae8-9fa7-630788097db0
ORCID /0000-0001-7698-9095/work/142245219
ORCID /0000-0002-3347-0864/work/142255171


Research priority areas of TU Dresden


  • Active structure control, Fiber rubber composite, Integrated sensors, Shape memory alloys, Soft robotics