I've been exploring feedback too. I think the best option for measuring joint deflection is to build a circular capacitive vernier into the joints. The problem with this approach is two-fold. First, the scale will not be as precise as you'd like--this is an issue of error amplification: an error of 10um around the joint will be around 100um at the toolhead. Second, a circular capacitive vernier will require one (closely located) microcontroller per joint.
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