The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment. In this work, we present our color-coded tactile sensor, incorporating plastic optical fibers (POF), transparent silicone rubber and an off-the-shelf color camera. Processing electronics are placed away from the sensing surface to make the sensor robust to harsh environments. Contact localization is possible thanks to the lower number of light sources compared to the number of camera POFs. Classical machine learning techniques and a hierarchical classification scheme were used for contact localization. Specifically, we generated the mapping from stimulation to sensation of a robotic perception system using our sensor. We achieved a force sensing range up to 18 N with the force resolution of around 3.6 N and the spatial resolution of 8 mm. The color-coded tactile sensor is suitable for tactile exploration and might enable further innovations in robust tactile sensing.
Researchers embedded an optical tactile sensor into the multi-modal tactile sensing system of an underwater robot gripper @cite_25 . As in @cite_10 and Optoforce sensor , the sensing principle is based on the light reflection delivered via POFs. The POFs can be used as force sensing elements due to the stray light, which is considered as a drawback in telecommunications @cite_1 . The deformation of a POF increases the losses of the light propagated inside, as the attenuation coefficient increases. In additon, the elasto-optic metamaterial presented in @cite_2 can change its refractive index due to pure bending. Such POFs are fabricated by the chemical vapor deposition technique. Their design generally relies upon the phenomenon of optical interference @cite_0 .
@cite_1 @cite_0 @cite_2 @cite_10 @cite_25
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The aim of this paper is to report the design of a low-cost plastic optical fiber (POF) pressure sensor, embedded in a mattress. We report the design of a multipoint sensor, a cheap alternative to the most common fiber sensors. The sensor is implemented using Arduino board, standard LEDs for optical communication in POF (λ = 645 nm) and a silicon light sensor. The Super ESKA® plastic fibers were used to implement the fiber intensity sensor, arranged in a 4 × 4 matrix. During the breathing cycles, the force transmitted from the lungs to the thorax is in the order of tens of Newtons, and the respiration rate is of one breath every 2–5 s (0.2–0.5 Hz). The sensor has a resolution of force applied on a single point of 2.2–4.5 N on the normalized voltage output, and a bandwidth of 10 Hz, it is then suitable to monitor the respiration movements. Another issue to be addressed is the presence of hysteresis over load cycles. The sensor was loaded cyclically to estimate the drift of the system, and the hysteresis was found to be negligible. This paper investigates experimentally the change of the refractive index, due to forces such as pulling and pure bending, in an optical fiber fabricated by the CVD technique. It is found that this phenomenon can be interpreted in terms of a simple model of the fiber, that is, a mechanically homogeneous circular rod. We compare the effect of the refractive-index change and that of a geometrical deformation of the fiber on transmission characteristics. A new method based on photoelasticity is also proposed to measure the curvature distribution of a fiber whose axis is deformed by external forces. This paper presents a fiber optic based tactile array sensor that can be employed in magnetic resonance environments. In contrast to conventional sensing approaches, such as resistive or capacitive-based sensing methods, which strongly rely on the generation and transmission of electronics signals, here electromagnetically isolated optical fibers were utilized to develop the tactile array sensor. The individual sensing elements of the proposed sensor detect normal forces; fusing the information from the individual elements allows the perception of the shape of probed objects. Applied forces deform a micro-flexure inside each sensor tactel, displacing a miniature mirror which, in turn, modulates the light intensity introduced by a transmitting fiber connected to a light source at its proximal end. For each tactel, the light intensity is read by a receiving fiber connected directly to a 2-D vision sensor. Computer software, such as MATLAB, is used to process the images received by the vision sensor. The calibration process was conducted by relating the applied forces to the number of activated pixels for each image received from a receiving fiber. The proposed approach allows the concurrent acquisition of data from multiple tactile sensor elements using a vision sensor such as a standard video camera. Test results of force responses and shape detection have proven the viability of this sensing concept. With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing one modality of forces in the robotic end-effector. The use of a multi-modal tactile sensory system is motivated, which combines static and dynamic force sensor arrays together with an absolute force measurement system. This publication is focused on the development of a compact sensor interface for a fiber-optic sensor array, as optic measurement principles tend to have a bulky interface. Mechanical, electrical and software approaches are combined to realize an integrated structure that provides decentralized data pre-processing of the tactile measurements. Local behaviors are implemented using this setup to show the effectiveness of this approach.