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Design, Fabrication, and Characterization of a Novel Optical 6-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation
Leslie, O.; Córdova Bulens, D.; Redmond, S.J. Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation. Sensors2023, 23, 9640.
Leslie, O.; Córdova Bulens, D.; Redmond, S.J. Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation. Sensors 2023, 23, 9640.
Leslie, O.; Córdova Bulens, D.; Redmond, S.J. Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation. Sensors2023, 23, 9640.
Leslie, O.; Córdova Bulens, D.; Redmond, S.J. Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation. Sensors 2023, 23, 9640.
Abstract
Real-time multi-axis distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor-object interface. In this paper, we present an optical-based 6-axis tactile sensor designed in a fingertip shape for robotic dexterous manipulation. The distributed sensor can precisely estimate local XYZ force and displacement at ten distinct locations, and provide global XYZ force and torque measurements. Its compact size, comparable to that of a human thumb, and minimal thickness allow seamless integration onto existing robotic fingers, eliminating the need for complex modifications to the gripper. The proposed sensor design uses a simple, low-cost fabrication method. Moreover, the optical transduction approach uses light angle and intensity sensing to infer force and displacement from deformations of individual sensing units that form the overall sensor, providing distributed 6-axis sensing. The local force precision at each sensing unit in the X, Y, and Z axes is 20.89 mN, 19.19 mN, and 43.22 mN, respectively, over an local force range of approximately ±1.5 N in X and Y and 0 to -2 N in Z. The local displacement precision in the X, Y and Z axes is 56.70 μm, 50.18 μm and 13.83 μm, respectively, over a local displacement range of ±2 mm in the XY directions and 0 to -1.5mm in Z (i.e., compression). Additionally, the sensor can measure global torques, Tx, Ty and Tz, with a precision of of 1.90 N-mm, 1.54 N-mm and 1.26 N-mm, respectively. The fabricated design is showcased by integrating it with an OnRobot RG2 gripper and illustrating real-time measurements during in simple demonstration task which generate changing global forces and torques.
Engineering, Electrical and Electronic Engineering
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