• spatial configuration
• position sensor
• continuum robot

This thesis deals with the sensorization of continuum robots for reconstructing spatial
configuration. Since at the present time this is prevalently achieved using
not-on-board optical methods, an embedded system is needed. In order to achieve this result, a broader study about difficulties when reconstructing the position of
continuum robots is introduced. Then, a theoretical method to solve these issues
is proposed. The innovative idea is based on applying concepts concerning signals
theory to geometric parameters of continuum arms. A new material is characterised
and chosen as good candidate for sensorization of flexible manipulators. A practical
application on a octopus-inspired robot arm is finally shown and discussed.