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There's just one encoder per joint. The encoder disk is 3D printed and the cruft from the print is used to refine the encoder ticks. Instead of fighting noise they save a map of all the systematic noise and then can use a lookup table to localize.

*I went to Vegas and built an arm with the founders.

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Does this introduce risk of future noise (fluff, chad, whatever: it's industrial applications == dirt == hostile environment) being misread, and require recalibration?

Not saying wontworkbecause. I think this calibration trick is very good and I am imagining it's applications to other things eg more precise disk head placement from noise maps of the interblock separation reads

Ya recalibration is definitely a necessary aspect of this approach if the optical reading changes. For example if IR light levels change.

Which is guaranteed with aging.

Like an optical flow applied for radial motion?

Like optical flow in that features are used, not like optical flow in that there's one standard by which all measurements can be compared to.

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