TY - JOUR
T1 - Polymer-based Optical Waveguide Triaxial Tactile Sensing for 3-dimensional Curved Shell
AU - Cao, Danqian
AU - Hu, Jian
AU - Li, Yue
AU - Wang, Stephen
AU - Liu, Hongbin
N1 - Funding Information:
The work of Danqian Cao was supported by China Scholarship Council under CSC NO. 201906340220.
Publisher Copyright:
© 2016 IEEE.
PY - 2022/4/1
Y1 - 2022/4/1
N2 - To realize dexterous robotic manipulation and enhance the human-machine interaction, nowadays increasing efforts have been made towards multi-dimensional force sensing. However, there are still bottlenecks in integrating these sensors into robots because of the limitation on conformability to complex surfaces and miniaturization. To overcome the above challenges, we proposed a novel polymer-based waveguide tactile sensing method by embedding elastic optical waveguide channels into a 3D curved shell. By surrounding a soft tactel with four channels, the tactel is capable to measure normal and shear forces. We demonstrated that 3-axis force sensing is achieved on a shell structure with thickness of 2.1 mm. The average gauge factor in detecting the normal force from 0 to 1.1 N is -0.2207 N-1, while the value is -0.1976 N-1 in the shear force sensing from -1 to 1 N. A force resolution of 0.1 mN has been achieved, and the proposed sensor has an average hysteresis of 22.23%. It performs well in dynamic force testing of 10 Hz and reaches average angle error 9.7357° and average amplitude error 0.1555 N between real force and predicted force which is derived by the calibration matrix. The experiment results prove that the proposed sensing method can provide triaxial force sensing on the complex 3D curved surface with good performance.
AB - To realize dexterous robotic manipulation and enhance the human-machine interaction, nowadays increasing efforts have been made towards multi-dimensional force sensing. However, there are still bottlenecks in integrating these sensors into robots because of the limitation on conformability to complex surfaces and miniaturization. To overcome the above challenges, we proposed a novel polymer-based waveguide tactile sensing method by embedding elastic optical waveguide channels into a 3D curved shell. By surrounding a soft tactel with four channels, the tactel is capable to measure normal and shear forces. We demonstrated that 3-axis force sensing is achieved on a shell structure with thickness of 2.1 mm. The average gauge factor in detecting the normal force from 0 to 1.1 N is -0.2207 N-1, while the value is -0.1976 N-1 in the shear force sensing from -1 to 1 N. A force resolution of 0.1 mN has been achieved, and the proposed sensor has an average hysteresis of 22.23%. It performs well in dynamic force testing of 10 Hz and reaches average angle error 9.7357° and average amplitude error 0.1555 N between real force and predicted force which is derived by the calibration matrix. The experiment results prove that the proposed sensing method can provide triaxial force sensing on the complex 3D curved surface with good performance.
KW - 3D Surface Force Sensing
KW - Flexible Robotics
KW - Force
KW - Force and Tactile sensing
KW - Haptics and Haptic Interfaces
KW - Optical device fabrication
KW - Optical surface waves
KW - Optical waveguides
KW - Sensors
KW - Shape
KW - Three-dimensional displays
UR - http://www.scopus.com/inward/record.url?scp=85124103174&partnerID=8YFLogxK
U2 - 10.1109/LRA.2022.3146596
DO - 10.1109/LRA.2022.3146596
M3 - Article
AN - SCOPUS:85124103174
SN - 2377-3766
VL - 7
SP - 3443
EP - 3450
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
ER -