TY - GEN
T1 - Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands
AU - Ataollahi, Asghar
AU - Polygerinos, Panagiotis
AU - Puangmali, Pinyo
AU - Seneviratne, Lakmal D.
AU - Althoefer, Kaspar
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651481130&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651481130&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5649109
DO - 10.1109/IROS.2010.5649109
M3 - Conference contribution
AN - SCOPUS:78651481130
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 910
EP - 915
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -