Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors

knowledge from the kinematic model, we obtain an effective yet data-efficient learning strategy. We first demonstrate in simulation the value of this kinematic prior by investigating the proprioception behavior when varying the sensor configuration, which does not require us to re-train the neural network. We validate our approach in experiments involving one soft segment containing a cylindrical magnet and three magnetoresistive sensors. During the experiments, we achieve mean relative errors of 4.5%.