Shape and Hardness Perception of Robot Soft Finger Based on Fiber Bragg Grating
Qi Jiang, Jialiang Yan
Abstract
Due to the increasing demand for tactile sensing of robotic hands, this paper designs a soft robot hand that can realize object shape recognition and hardness detection. Taking advantage of the high sensitivity and wavelength division multiplexing of Fiber Bragg Gratings (FBG), a distributed detection method using a single fiber in series with multiple FBG is proposed, which can demodulate bending and pressure at the same time, reduce wiring and improve efficiency.
Topics & Concepts
Fiber Bragg gratingBendingRobotMaterials scienceSensitivity (control systems)MultiplexingDemodulationTactile sensorCable glandComputer scienceElectronic engineeringWavelengthArtificial intelligenceEngineeringOptoelectronicsTelecommunicationsChannel (broadcasting)Composite materialSoft Robotics and ApplicationsRobot Manipulation and LearningAdvanced Surface Polishing Techniques