A Multi-Axis FBG-Based Tactile Sensor for Gripping in Space

被引：5

作者：

Frishman, Samuel ^{[1
]}

Di, Julia ^{[1
]}

Karachiwalla, Zulekha ^{[2
]}

Black, Richard J. ^{[3
]}

Moslehi, Kian ^{[3
]}

Smith, Trey ^{[4
]}

Coltin, Brian ^{[4
]}

Moslehi, Bijan ^{[3
]}

Cutkosky, Mark R. ^{[1
]}

机构：

[1] Stanford Univ, Dept Mech Engn, Stanford, CA 94305 USA

[2] Univ Maryland, Dept Comp Engn, Baltimore, MD 21250 USA

[3] Intelligent Fiber Opt Syst Corp, San Jose, CA 95134 USA

[4] NASA Ames, Mountain View, CA 94035 USA

来源：

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2021年

基金：

美国国家航空航天局;

关键词：

BRAGG; TEMPERATURE;

D O I：

10.1109/IROS51168.2021.9635998

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Tactile sensing can improve end-effector control and grasp quality, especially for free-flying robots where target approach and alignment present particular challenges. However, many current tactile sensing technologies are not suitable for the harsh environment of space. We present a tactile sensor that measures normal and biaxial shear strains in the pads of a gripper using a single optical fiber with Bragg grating (FBG) sensors. Compared to conventional wired solutions, the encapsulated optical fibers are immune to electromagnetic interference-critical in the harsh environment of space. Sampling is possible at over 1 kHz to detect dynamic events. We mount sensor pads on a custom two-fingered gripper with independent control of the distal and proximal phalanges, allowing for grip readjustment based on sensing data. Calibrated sensor data for forces match those from a commercial multiaxial load cell with an average 96.2% RMS for all taxels. We demonstrate the gripper on tasks motivated by the Astrobee free-flying robots in the International Space Station (ISS): gripping corners, detecting misaligned grasps, and improving load sharing over the contact areas in pinch grasps.

引用

页码：1794 / 1799

页数：6

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