Advancements in the field of collaborative robotics have led to a closer cooperation between humans and machines. Sharing the same environment, safety and adaptive control becomes of paramount importance in human-robot interaction. Thus, tactile feedback technologies are crucial to perceive contacts. This work presents the design and development of a polymeric artificial skin, mimicking the human sense of touch in perceiving and localizing pressure over a large area, and its integration on a custom human-like robotic forearm. The sensing system consisted of a curved soft matrix embedding an optical fiber equipped with 16 distributed Fiber Bragg Gratings (FBGs). To estimate the sensitivity of the tactile sensor array, a preliminary mechanical characterization was performed by means of force-controlled indentations. Results show a high correlation between the applied load and the corresponding output of the sensors. In particular, the median value of the sensitivity resulted in 0.26 nm.N-1, with 0.08 nm.N-1 interquartile range. These promising results call for further investigation on spatial sensitivity and force range, contact localization and calibration of the presented artificial skin.
Design and Development of Large-Area FBG-Based Sensing Skin for Collaborative Robotics
D'Abbraccio, JMembro del Collaboration Group
;Aliperta, AMembro del Collaboration Group
;Oddo, CM
Supervision
;Zaltieri, MMembro del Collaboration Group
;Massari, LMembro del Collaboration Group
;Terruso, GMembro del Collaboration Group
;
2019-01-01
Abstract
Advancements in the field of collaborative robotics have led to a closer cooperation between humans and machines. Sharing the same environment, safety and adaptive control becomes of paramount importance in human-robot interaction. Thus, tactile feedback technologies are crucial to perceive contacts. This work presents the design and development of a polymeric artificial skin, mimicking the human sense of touch in perceiving and localizing pressure over a large area, and its integration on a custom human-like robotic forearm. The sensing system consisted of a curved soft matrix embedding an optical fiber equipped with 16 distributed Fiber Bragg Gratings (FBGs). To estimate the sensitivity of the tactile sensor array, a preliminary mechanical characterization was performed by means of force-controlled indentations. Results show a high correlation between the applied load and the corresponding output of the sensors. In particular, the median value of the sensitivity resulted in 0.26 nm.N-1, with 0.08 nm.N-1 interquartile range. These promising results call for further investigation on spatial sensitivity and force range, contact localization and calibration of the presented artificial skin.File | Dimensione | Formato | |
---|---|---|---|
DAbrraccio_IEEE-MetroInd40IoT_2019.pdf
non disponibili
Descrizione: Articolo principale
Tipologia:
Documento in Post-print/Accepted manuscript
Licenza:
Non pubblico
Dimensione
796.56 kB
Formato
Adobe PDF
|
796.56 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.