Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a natural choice as they can cope with the large deformations of soft robots without loss of performance. However, existing integration approaches are cumbersome and require manual steps and complex assembly. We propose a semi-automated printing process where plastic optical fibers are embedded with readout electronics in 3D printed flexures. The fibers become locked in place and the readout electronics remain optically coupled to them while the flexures undergo large bending deformations, creating a repeatable, monolithically manufactured bending transducer with only 10 minutes required in total for the manual embedding steps. We demonstrate the process by manufacturing multi-material 3D printed fingers and extensively evaluating the performance of each proprioceptive joint. The sensors achieve 70% linearity and 4.81{\deg} RMS error on average. Furthermore, the distributed architecture allows for maintaining an average fingertip position estimation accuracy of 12 mm in the presence of external static forces. To demonstrate the potential of the distributed sensor architecture in robotics applications, we build a data-driven model independent of actuation feedback to detect contact with objects in the environment.

The robots were Joe McGillivray's idea. The first one arrived at Dynamic Group in Ramsey, Minn., by pickup truck in two cardboard boxes. With a mixture of excitement and trepidation, McGillivray watched as a vendor unpacked two silver tubes, assorted blue-and-gray joints and a touch screen and put them all together. When he was finished 10 minutes later, McGillivray beheld an arm that, had its segments not all been able to swivel 360 degrees, might have belonged to a very large N.B.A. player or a fairly small giant. Its "shoulder" was mounted to a waist-high pedestal on wheels. If it were to hail someone across the room, its "elbow" would reach eye level. Below its "wrist," which was triple-jointed for extra dexterity, there were sockets for various attachments. McGillivray, not sure yet if he wanted to keep the contraption, stuck a piece of clear tape to the wrist and drew a happy face on it, which made the arm look a bit as if it were putting on a puppet show. He hoped that this would help it look nonthreatening.

The patter of automated machinery fills the air inside wire-basket manufacturer Marlin Steel's bustling factory in a rugged industrial section of this city. Maxi Cifarelli, 25, of Baltimore, peers through safety goggles at a flat screen, her left knee bent and heel resting on her chair. Two years after earning a fine arts degree from Towson University with a specialty in interdisciplinary object design, she now spends her work days working with a personality-free machine with a name to match: a computer numerical control, or CNC, router. With automation poised to sweep through the economy, some fear that it will kill more jobs than it creates. But Cifarelli's experience is the opposite. She befriended automation, instead of fighting it, and she has a job because of it.

The patter of automated machinery fills the air inside wire-basket manufacturer Marlin Steel's bustling factory in a rugged industrial section of this city. Maxi Cifarelli, 25, of Baltimore, peers through safety goggles at a flat screen, her left knee bent and heel resting on her chair. Two years after earning a fine arts degree from Towson University with a specialty in interdisciplinary object design, she now spends her work days working with a personality-free machine with a name to match: a computer numerical control, or CNC, router. With automation poised to sweep through the economy, some fear that it will kill more jobs than it creates. But Cifarelli's experience is the opposite. She befriended automation, instead of fighting it, and she has a job because of it.