Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell

doi:10.1109/LRA.2022.3146596

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	Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell
	Cao, Danqian 2; Hu, Jian 2; Li, Yue 2; Wang, Stephen 3; Liu, Hongbin 1,2
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	2022-04-01
卷号	7 期号:2 页码:3443-3450
关键词	Force and tactile sensing haptics and haptic interfaces flexible robotics 3D surface force sensing
ISSN号	2377-3766
DOI	10.1109/LRA.2022.3146596
通讯作者	Liu, Hongbin(hongbin.liu@kcl.ac.uk)
英文摘要	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 degrees 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.
资助项目	Huawei Technologies RD U.K. Ltd. ; China Scholarship Council under CSC[201906340220]
WOS关键词	FORCE SENSOR ; SKIN ; SHEAR ; TEMPERATURE ; VALIDATION ; DESIGN
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000754248600003
资助机构	Huawei Technologies RD U.K. Ltd. ; China Scholarship Council under CSC
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47900]
专题	智能微创医疗技术团队
通讯作者	Liu, Hongbin
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Kings Coll London, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England 3.Huawei Technol R&D UK Ltd, Bristol BS32 4TR, Avon, England
推荐引用方式 GB/T 7714	Cao, Danqian,Hu, Jian,Li, Yue,et al. Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):3443-3450.
APA	Cao, Danqian,Hu, Jian,Li, Yue,Wang, Stephen,&Liu, Hongbin.(2022).Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),3443-3450.
MLA	Cao, Danqian,et al."Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):3443-3450.