Deformed Shape Estimation of an Asymmetric Conductive Pattern Printed Plate without using Resistance Model

Thin flexible plates are widely used in various mechanisms such as springs, soft robot bodies and impulse force generators. Previous study proposed a method for estimating the deformation of thin flexible plates by printing asymmetric and symmetric electro-conductive patterns on them. However, previous method required resistance model of conductive pattern, and the method had estimation errors due to the resistance model. Therefore, in this paper, deformed shape estimation method of thin flexible plate without resistance model is proposed. In this method, constraint conditions such both edge angles and buckling distance are estimated using resistances of conductive pattern. Then, the deformation shape is estimated from constraint conditions. In this paper, this measurement flow is simulated. Simulation results showed that the better function for calculate the relationship between constraint conditions and resistances is second degree of multivariable polynomial. We find the deformed shape estimated from the resistance values of the conductive patterns are consistent with actual deformation shape in the simulation. It confirm that the deformation shape can be estimated using the proposed estimation method.