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Accurate curvature sensing is essential for robotic control, movement monitoring, and enhanced interactive experiences. Existing strategies rely either on stretchable strain sensors, which introduce non-calibratable measurement errors due to unstable interfacial friction and slippage, or on non-stretchable curvature sensors, which lack the stretchability required for wearable applications. Here, a stretchable curvature sensor is reported featuring a core component of a wave-shaped symmetrical laminated structure. This structure achieves both stretchability and effective decoupling of bending from stretching, enabling accurate curvature measurement under frictional conditions. Slip-simulation tests with smart gloves demonstrated a 93.6% reduction in measurement errors relative to conventional strain sensors. These results underscore the sensor's promise for applications in flexible wearable devices and soft robotics.
Wang et al. (Tue,) studied this question.