Force Sensing Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing
Yong-Lae Park; Chau, K.; Black, R.J.; Cutkosky, M.R.
Robotics and Automation, 2007 IEEE International Conference on
Volume , Issue , 10-14 April 2007 Page(s):1510 - 1516
Digital Object Identifier   10.1109/ROBOT.2007.363538
Summary:Force sensing is an essential requirement for dexterous robot manipulation. Although strain gages have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility and immunity to electromagnetic noise. An exoskeletal force sensing robot finger was developed by embedding fiber Bragg grating (FBG) sensors into a polymer-based structure. Multiple FBG sensors were embedded into the structure to allow the manipulator to sense and measure both contact forces and grasping forces. In order to fabricate a three-dimensional structure, a new shape deposition manufacturing (SDM) process was explored. The sensorized SDM-fabricated finger was then characterized using an FBG interrogator. A force localization scheme is also described

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