Fig. 6: Integration of flexible PCBs and LEDs into the functional MaSoChains.
From: Self-folding soft-robotic chains with reconfigurable shapes and functionalities
a An illustration of the structure and electrical connections of flexible electronics. b A bird’s eye view of a completely folded flexible PCB assembled with LEDs. c Illustration of shape-sensing MaSoChains through local electrically connecting pads (marked with purple arrows) that will only light up when the MaSoChain is correctly assembled. d Bird’s eye view of the flexible PCB on a rigid segment with one LED in the middle. e, f Optical image and folding process of MaSoChain integrated with colored LEDs on a flexible PCB. g, h Optical image and folding process of a shape-sensing MaSoChain equipped with a separated flexible PCB with colored LEDs. The LED will turn off if the connecting pads are not correctly assembled. The scale bar is 10 mm.
