Tactile Sensor Array Using Prismatic-Tip Optical Fibers for Dexterous Robotic Hands

被引：12

作者：

Ataollahi, Asghar ^{[1
]}

Polygerinos, Panagiotis ^{[1
]}

Puangmali, Pinyo ^{[1
]}

Seneviratne, Lakmal D. ^{[1
]}

Althoefer, Kaspar ^{[1
]}

机构：

[1] Kings Coll London, Dept Mech Engn, London WC2R 2LS, England

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

D O I：

10.1109/IROS.2010.5649109

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a novel approach of performing artificial tactile sensing based on the deployment of prismatic-tip optical fibers. The primary principle of the sensing schemes relies on light intensity modulation for detecting the deformation of an elastic element experiencing a force load. By measuring the change of light signal intensity, the magnitude of the applied force can be determined. The force distribution over an area can be evaluated using an array of optical fibers. The tactile sensor array prototype described in this paper demonstrates its capability and feasibility in performing tactile sensing and force measurement over a range of approximately 0 to 4.8 N. Due to its simple sensing structure, it is easy to manufacture and the sensor can be miniaturized for applications in dexterous robotic handling.

引用

页码：910 / 915

页数：6

共 21 条

[1] Experiences with an interactive museum tour-guide robot [J].

Burgard, W ;

Cremers, AB ;

Fox, D ;

Hähnel, D ;

Lakemeyer, G ;

Schulz, D ;

Steiner, W ;

Thrun, S .

ARTIFICIAL INTELLIGENCE, 1999, 114 (1-2) :3-55

[2] Silicon three-axial tactile sensor [J].

Chu, Z ;

Sarro, PM ;

Middelhoek, S .

SENSORS AND ACTUATORS A-PHYSICAL, 1996, 54 (1-3) :505-510

[3] Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand [J].

Dai, Jian S. ;

Wang, Delun ;

Cui, Lei .

IEEE TRANSACTIONS ON ROBOTICS, 2009, 25 (04) :942-947

[4] Polymer micromachined multimodal tactile sensors [J].

Engel, J ;

Chen, J ;

Fan, ZF ;

Chang, L .

SENSORS AND ACTUATORS A-PHYSICAL, 2005, 117 (01) :50-61

[5]

GAMBLING WA, 1991, SENSOR ACTUAT A-PHYS, V25, P191

[6] Robotics for surgery [J].

Howe, RD ;

Matsuoka, Y .

ANNUAL REVIEW OF BIOMEDICAL ENGINEERING, 1999, 1 :211-240

[7]

Kageyama R., 1999, P 1999 IEEE INT C SY, P981

[8] OBJECT IMAGING WITH A PIEZOELECTRIC ROBOTIC TACTILE SENSOR [J].

KOLESAR, ES ;

DYSON, CS .

JOURNAL OF MICROELECTROMECHANICAL SYSTEMS, 1995, 4 (02) :87-96

[9]

Lund H. H., 2001, Applied Soft Computing, V1, P3, DOI 10.1016/S1568-4946(01)00002-3

[10]

MAEKAWA H, 1992, 1992 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION : PROCEEDINGS, VOLS 1-3, P1327, DOI 10.1109/ROBOT.1992.220165

← 1 2 3 →