Exoskeletal Force-Sensing End-Effectors With Embedded Optical Fiber-Bragg-Grating Sensors
Force sensing is an essential requirement for dexterous robot manipulation. We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and estimation of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to det...
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| Veröffentlicht in: | IEEE transactions on robotics 2009-12, Vol.25 (6), p.1319-1331 |
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| container_title | IEEE transactions on robotics |
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| creator | Yong-Lae Park Seok Chang Ryu Black, R.J. Chau, K.K. Moslehi, B. Cutkosky, M.R. |
| description | Force sensing is an essential requirement for dexterous robot manipulation. We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and estimation of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. In this paper, we present a fabrication process that allows us to create hollow multimaterial structures with embedded fibers and the results of experiments to characterize the sensors and controlling contact forces in a system involving an industrial robot and a two-fingered dexterous hand. We also briefly describe the optical-interrogation method used to measure multiple sensors along a single fiber at kilohertz rates for closed-loop force control. |
| doi_str_mv | 10.1109/TRO.2009.2032965 |
| format | Article |
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We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and estimation of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. In this paper, we present a fabrication process that allows us to create hollow multimaterial structures with embedded fibers and the results of experiments to characterize the sensors and controlling contact forces in a system involving an industrial robot and a two-fingered dexterous hand. 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We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and estimation of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. In this paper, we present a fabrication process that allows us to create hollow multimaterial structures with embedded fibers and the results of experiments to characterize the sensors and controlling contact forces in a system involving an industrial robot and a two-fingered dexterous hand. We also briefly describe the optical-interrogation method used to measure multiple sensors along a single fiber at kilohertz rates for closed-loop force control.</description><subject>Applied sciences</subject><subject>Automation</subject><subject>Biologically inspired robots</subject><subject>Closed loop systems</subject><subject>Computer science; control theory; systems</subject><subject>Contact</subject><subject>Control theory. Systems</subject><subject>Detection</subject><subject>dexterous manipulation</subject><subject>Estimating techniques</subject><subject>Exact sciences and technology</subject><subject>Exoskeletons</subject><subject>fiber Bragg grating (FBG)</subject><subject>Fiber optics</subject><subject>force and tactile sensing</subject><subject>Force control</subject><subject>Force sensors</subject><subject>Industrial robots</subject><subject>Manufacturing engineering</subject><subject>Optical device fabrication</subject><subject>Optical fiber sensors</subject><subject>Optical fibers</subject><subject>Optical sensors</subject><subject>Robot sensing systems</subject><subject>Robotics</subject><subject>Robots</subject><subject>Sensor phenomena and characterization</subject><subject>Sensor systems</subject><subject>Sensors</subject><subject>shape-deposition manufacturing</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2009</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkM9LwzAUgIso-PMueCmCeIq-JG2aHHV0KggDnYinkKYvs9q1M-lA_3tTNjx4SQL5vsfjS5JTCleUgrqeP82uGICKB2dK5DvJAVUZJZAJuRvfec4IByX3k8MQPgBYpoAfJG_ldx8-scXBtOm09xbJM3ah6RZp2dWkdA7t0PuQvjbDe1ouK6xrrNPZamjsaDQVenLrzWJB7rwZRm_0o3Gc7DnTBjzZ3kfJy7ScT-7J4-zuYXLzSCxX2UDQ5dJwCYwbAVbYijJFbVYVeUEtGOp4DbYusLDKKSOwAsuoLQTnwimUGT9KLjdzV77_WmMY9LIJFtvWdNivg5ZScUk5E5E8_0d-9GvfxeU0A5qLQnIWIdhA1vcheHR65Zul8T-agh5L61haj6X1tnRULrZzTYhRnDedbcKfxxiDolAycmcbrkHEv--cg6AA_Bc_voXY</recordid><startdate>20091201</startdate><enddate>20091201</enddate><creator>Yong-Lae Park</creator><creator>Seok Chang Ryu</creator><creator>Black, R.J.</creator><creator>Chau, K.K.</creator><creator>Moslehi, B.</creator><creator>Cutkosky, M.R.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Systems</topic><topic>Detection</topic><topic>dexterous manipulation</topic><topic>Estimating techniques</topic><topic>Exact sciences and technology</topic><topic>Exoskeletons</topic><topic>fiber Bragg grating (FBG)</topic><topic>Fiber optics</topic><topic>force and tactile sensing</topic><topic>Force control</topic><topic>Force sensors</topic><topic>Industrial robots</topic><topic>Manufacturing engineering</topic><topic>Optical device fabrication</topic><topic>Optical fiber sensors</topic><topic>Optical fibers</topic><topic>Optical sensors</topic><topic>Robot sensing systems</topic><topic>Robotics</topic><topic>Robots</topic><topic>Sensor phenomena and characterization</topic><topic>Sensor systems</topic><topic>Sensors</topic><topic>shape-deposition manufacturing</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Yong-Lae Park</creatorcontrib><creatorcontrib>Seok Chang Ryu</creatorcontrib><creatorcontrib>Black, R.J.</creatorcontrib><creatorcontrib>Chau, K.K.</creatorcontrib><creatorcontrib>Moslehi, B.</creatorcontrib><creatorcontrib>Cutkosky, M.R.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Yong-Lae Park</au><au>Seok Chang Ryu</au><au>Black, R.J.</au><au>Chau, K.K.</au><au>Moslehi, B.</au><au>Cutkosky, M.R.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Exoskeletal Force-Sensing End-Effectors With Embedded Optical Fiber-Bragg-Grating Sensors</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2009-12-01</date><risdate>2009</risdate><volume>25</volume><issue>6</issue><spage>1319</spage><epage>1331</epage><pages>1319-1331</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>Force sensing is an essential requirement for dexterous robot manipulation. We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and estimation of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. In this paper, we present a fabrication process that allows us to create hollow multimaterial structures with embedded fibers and the results of experiments to characterize the sensors and controlling contact forces in a system involving an industrial robot and a two-fingered dexterous hand. We also briefly describe the optical-interrogation method used to measure multiple sensors along a single fiber at kilohertz rates for closed-loop force control.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2009.2032965</doi><tpages>13</tpages><oa>free_for_read</oa></addata></record> |
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| subjects | Applied sciences Automation Biologically inspired robots Closed loop systems Computer science control theory systems Contact Control theory. Systems Detection dexterous manipulation Estimating techniques Exact sciences and technology Exoskeletons fiber Bragg grating (FBG) Fiber optics force and tactile sensing Force control Force sensors Industrial robots Manufacturing engineering Optical device fabrication Optical fiber sensors Optical fibers Optical sensors Robot sensing systems Robotics Robots Sensor phenomena and characterization Sensor systems Sensors shape-deposition manufacturing |
| title | Exoskeletal Force-Sensing End-Effectors With Embedded Optical Fiber-Bragg-Grating Sensors |
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