Fiber optically sensorized multi-fingered robotic hand

Jiang, Leo; Low, Kevin; Costa, Joey; Black, Richard J.; Park, Yong‐Lae

doi:10.1109/iros.2015.7353606

Cited by 28 publications

(12 citation statements)

References 29 publications

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“…Balek and Kelley [15] provide one of the earliest studies on how optical sensors can be integrated into robot grippers for obstacle avoidance, localization, and object recognition. More recent studies of optical based sensors have explored their application to grasping [16] [17] [18], sensor fusion [19] [20] [21], slip detection [22], and sequential manipulation [23]. Compared to other sensing modalities, optical sensors typically provide more accurate measurements over a wider range.…”

Section: Related Workmentioning

confidence: 99%

Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry

Lancaster

Smith

Srinivasa

2019

2019 International Conference on Robotics and Automation (ICRA)

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We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sensor system consists of optical time-of-flight range measurement modules covered in a clear elastomer. Because the elastomer is clear, the sensor can detect and range nearby objects, as well as measure deformations caused by objects that are in contact with the sensor and thereby estimate the applied force. We examine how this sensor design can be improved with respect to invariance to object reflectivity, signal-to-noise ratio, and continuous operation when switching between the distance and force measurement regimes. By harnessing time-of-flight technology and optimizing the elastomer-air boundary to control the emitted light's path, we develop a sensor that is able to seamlessly transition between measuring distances of up to 50 mm and contact forces of up to 10 newtons. Furthermore, we provide all hardware design files and software sources, and offer thorough instructions on how to manufacture the sensor from inexpensive, commercially available components.

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Section: Related Workmentioning

confidence: 99%

Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry

Lancaster

Smith

Srinivasa

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…Although there is a shortage of studies regarding the adaptation of FBG sensing technologies to exoskeletons, for gait aid there are already some reports focusing on its application in robot fingers and glove-based devices [95][96][97]. Park et al presented an FBG-based solution to monitor the force in exoskeleton fingers [95].…”

Section: Rehabilitation Exoskeletonsmentioning

confidence: 99%

Fiber Bragg Gratings as e-Health Enablers: An Overview for Gait Analysis Applications

Domingues¹,

Tavares²,

Leite³

et al. 2019

Applications of Optical Fibers for Sensing

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Nowadays, the fast advances in sensing technologies and ubiquitous wireless networking are reflected in medical practice. It provides new healthcare advantages under the scope of e-Health applications, enhancing life quality of citizens. The increase of life expectancy of current population comes with its challenges and growing health risks, which include locomotive problems. Such impairments and its rehabilitation require a close monitoring and continuous evaluation, which add financial burdens on an already overloaded healthcare system. Analysis of body movements and gait pattern can help in the rehabilitation of such problems. These monitoring systems should be noninvasive and comfortable, in order to not jeopardize the mobility and the day-to-day activities of citizens. The use of fiber Bragg gratings (FBGs) as e-Health enablers has presented itself as a new topic to be investigated, exploiting the FBGs' advantages over its electronic counterparts. Although gait analysis has been widely assessed, the use of FBGs in biomechanics and rehabilitation is recent, with a wide field of applications. This chapter provides a review of the application of FBGs for gait analysis monitoring, namely its use in topics such as the monitoring of plantar pressure, angle, and torsion and its integration in rehabilitation exoskeletons and for prosthetic control.

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“…Alternatively, fiber-optic based sensors have a number of unique properties that make them attractive for sensing in soft robots [18][19][20][21][22]. In particular, their light-weight, low-loss, fast response, electromagnetic interference immunity, chemical stability and nontoxic nature make them an ideal sensor in biomedical and harsh environments.…”

Section: Introductionmentioning

confidence: 99%

Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor

Yang

Liu

Naqawe

et al. 2020

Sensors

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Soft robotics is an emerging field, since it offers distinct opportunities in areas where conventional rigid robots are not a feasible solution. However, due to the complex motions of soft robots and the stretchable nature of soft building materials, conventional electronic and fiber optic sensors cannot be used in soft robots, thus, hindering the soft robots’ ability to sense and respond to their surroundings. Fiber Bragg grating (FBG)-based sensors are very popular among various fiber optic sensors, but their stiff nature makes it challenging to be used in soft robotics. In this study, a soft robotic gripper with a sinusoidally embedded stretchable FBG-based fiber optic sensor is demonstrated. Unlike a straight FBG embedding configuration, this unique sinusoidal configuration prevents sensor dislocation, supports stretchability and improves sensitivity by seven times when compared to a straight configuration. Furthermore, the sinusoidally embedded FBG facilitates the detection of various movements and events occurring at the soft robotic gripper, such as (de)actuation, object holding and external perturbation. The combination of a soft robot and stretchable fiber optic sensor is a novel approach to enable a soft robot to sense and response to its surroundings, as well as to provide its operation status to the controller.

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Fiber optically sensorized multi-fingered robotic hand

Cited by 28 publications

References 29 publications

Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry

Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry

Fiber Bragg Gratings as e-Health Enablers: An Overview for Gait Analysis Applications

Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor

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