Poster: Temporal 3D Mapping of Deforming Translucent Surfaces

Accurate measurements of displacement and deformation is important when characterizing the full-field 3D shape of bidirectional soft robotics. Although technologies such as photogrammetry, 3D scanning, and LIDAR are available, they fall short of providing both real-time imaging capability and accurate measurements concurrently. Moreover, these technologies often encounter difficulties when handling non-opaque surfaces. In this research, we propose a method for mapping the temporal evolution of deforming surfaces, despite their optical properties. Our technique utilizes an array of opaque markers and a vision recognition system to track their coordinates, in conjunction with a 2-axis motorized stage with a laser displacement sensor. Consequently, this setup enables quasi-real-time surface mapping, free from the limitations imposed by the surface's optical characteristics. This method presents a viable solution for 3D mapping applications to further contribute to the main project of developing bidirectional soft robotics for solar sail applications.