Date of Award


Degree Type


Degree Name

Master of Science in Mechanical Engineering (MSME)


Mechanical, Industrial and Systems Engineering

First Advisor

Hongyan Yuan


In this thesis the use of proprioceptive sensors in elephant trunk inspired soft continuum robots was explored. After presenting the basics for this project, a review of existing soft continuum robots is given. The sensors used are o_-the-shelf stretch senors. Those sensors are carbon black impregnated rubber cords. The design and the fabrication of the robot are described. Using material characteristics a calibration process was developed to improve the sensor's consistency. The robot is then tested in open-loop as well as a closed-loop experiment. Results of those experiments are presented and discussed. (16 kB)
Main (7 kB)



To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.