Systems, devices, and methods for a robotic digit and determining motions and positions thereof

Abstract

In an implementation, a position transducer includes a printed circuit board (PCB) and a wiper in sliding contact with the PCB. The PCB includes a first and a second connector pad, and a conductive trace comprising two legs. One leg has an end electrically communicatively coupled to the first connector pad, and the other leg has an end electrically communicatively coupled to the second connector pad. The wiper includes a first blade electrically communicatively coupled to the first leg and a second blade electrically communicatively coupled to the second leg. In operation, an electrical path length of a conductive path between the first and the second connector pad depends, at least in part, on a relative position of the PCB and the wiper. One or more of the position transducers can be used to determine a relative position of actuatable components of a robotic digit.