This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the actuator. To train and evaluate the algorithm, predictions are compared to ground truth data from an external motion capture system. An off-the-shelf distance sensor is integrated in a similar actuator and its performance is used as a baseline for comparison. The resulting sensing pipeline runs at 40 Hz in real-time on a standard laptop and is additionally used for closed loop elongation control of the actuator. It is shown that the approach can achieve comparable accuracy to the distance sensor.
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