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Enabling Real-Time Shape-Sensing in Soft Robots via a Miniaturized, Single-Signal, Color-Tuned Soft Optical Sensor.

Frank Juliá Wise¹, Yitong Lu¹, Daniel Van Lewen¹

¹Department of Mechanical Engineering Boston University Boston Massachusetts USA.

Advanced Robotics Research

|June 8, 2026

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We developed a Light-based Ultrathin Miniature Optical Sensor (LUMOS) for soft robots. This soft sensor provides real-time 3D shape sensing, enabling precise control and autonomous navigation in complex environments.

Area of Science:

Robotics
Optical Sensing
Materials Science

Background:

Soft robotic systems need embedded sensing for advanced control.
Current shape-sensing technologies are often rigid, bulky, and computationally intensive.
Miniaturization and full softness are critical for integrating sensors into soft robots.

Purpose of the Study:

To introduce a novel, fully soft optical sensor for real-time 3D shape sensing.
To overcome limitations of existing shape-sensing methods in soft robotics.
To enable closed-loop and autonomous control of miniaturized soft robots.

Main Methods:

Developed the Light-based Ultrathin Miniature Optical Sensor (LUMOS) with a 1.25 mm cross-section.
Utilized thin film color tuning and a flexible mirror tip for 3D shape reconstruction.

Keywords:

material robotics optical sensing soft robotics soft sensing

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Employed neural network mapping for accurate shape prediction from RGB response.

Main Results:

LUMOS achieved a predicted tip accuracy of 0.47 mm when integrated into a soft continuum robot.
The sensor enabled precise 3D targeting and maintained accuracy under external disturbances.
The soft robot demonstrated autonomous navigation in an in vitro lung phantom using LUMOS.

Conclusions:

LUMOS offers a miniaturized, fully soft solution for real-time 3D shape sensing in soft robotics.
The sensor eliminates the need for onboard electronics, facilitating integration and reducing bulk.
This technology enables advanced closed-loop control and autonomous capabilities for soft robots.