Fiber Optic Shape Sensing for Soft Robotics

Fiber Optic Shape Sensing for Soft Robotics

While soft material actuators can undergo large deformations to execute very complex motions, what is critically lacking in soft material robotic systems is the ability to collect high-resolution shape information for sophisticated functions such as environmental mapping, collision detection, and fu...

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Veröffentlicht in:Soft robotics 2019-10, Vol.6 (5), p.671-684
Hauptverfasser: Galloway, Kevin C., Chen, Yue, Templeton, Emily, Rife, Brian, Godage, Isuru S., Barth, Eric J.
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container_end_page 684
container_issue 5
container_start_page 671
container_title Soft robotics
container_volume 6
creator Galloway, Kevin C.
Chen, Yue
Templeton, Emily
Rife, Brian
Godage, Isuru S.
Barth, Eric J.
description While soft material actuators can undergo large deformations to execute very complex motions, what is critically lacking in soft material robotic systems is the ability to collect high-resolution shape information for sophisticated functions such as environmental mapping, collision detection, and full state feedback control. This work explores the potential of a nearly commercial fiber optic shape sensor (FOSS) and presents the first demonstrations of a monolithic, multicore FOSS integrated into the structure of a fiber-reinforced soft actuator. In this pilot study, we report an open loop sensorized soft actuator capable of submillimeter position feedback that can detect the soft actuator's shape, environmental shapes, collision locations, and material stiffness properties.
doi_str_mv 10.1089/soro.2018.0131
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Original Articles
title Fiber Optic Shape Sensing for Soft Robotics
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