Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands

Asghar Ataollahi, Panagiotis Polygerinos, Pinyo Puangmali, Lakmal D. Seneviratne, Kaspar Althoefer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

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.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages910-915
Number of pages6
DOIs
StatePublished - 2010
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

Fingerprint

Sensor arrays
End effectors
Optical fibers
Force measurement
Robotics
Modulation
Sensors

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Ataollahi, A., Polygerinos, P., Puangmali, P., Seneviratne, L. D., & Althoefer, K. (2010). Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 910-915). [5649109] https://doi.org/10.1109/IROS.2010.5649109

Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands. / Ataollahi, Asghar; Polygerinos, Panagiotis; Puangmali, Pinyo; Seneviratne, Lakmal D.; Althoefer, Kaspar.

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 910-915 5649109.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ataollahi, A, Polygerinos, P, Puangmali, P, Seneviratne, LD & Althoefer, K 2010, Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5649109, pp. 910-915, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, Province of China, 10/18/10. https://doi.org/10.1109/IROS.2010.5649109
Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD, Althoefer K. Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 910-915. 5649109 https://doi.org/10.1109/IROS.2010.5649109
Ataollahi, Asghar ; Polygerinos, Panagiotis ; Puangmali, Pinyo ; Seneviratne, Lakmal D. ; Althoefer, Kaspar. / Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 910-915
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