Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor
Tactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot's internal representation of manipulated objects is un...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2019-04-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/fnbot.2019.00008/full |
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| author | Luca Massari Luca Massari Calogero M. Oddo Edoardo Sinibaldi Renaud Detry Joseph Bowkett Kalind C. Carpenter |
| author_facet | Luca Massari Luca Massari Calogero M. Oddo Edoardo Sinibaldi Renaud Detry Joseph Bowkett Kalind C. Carpenter |
| author_sort | Luca Massari |
| collection | DOAJ |
| description | Tactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot's internal representation of manipulated objects is uncertain. In this study we present the sensorization of an existing artificial hand, with the aim to achieve fine control of robotic limbs and perception of object's physical properties. Tactile feedback is conveyed by means of a soft sensor integrated at the fingertip of a robotic hand. The sensor consists of an optical fiber, housing Fiber Bragg Gratings (FBGs) transducers, embedded into a soft polymeric material integrated on a rigid hand. Through several tasks involving grasps of different objects in various conditions, the ability of the system to acquire information is assessed. Results show that a classifier based on the sensor outputs of the robotic hand is capable of accurately detecting both size and rigidity of the operated objects (99.36 and 100% accuracy, respectively). Furthermore, the outputs provide evidence of the ability to grab fragile objects without breakage or slippage e and to perform dynamic manipulative tasks, that involve the adaptation of fingers position based on the grasped objects' condition. |
| first_indexed | 2024-12-11T10:11:03Z |
| format | Article |
| id | doaj.art-7735696af4a443c5b02431b08e4bd603 |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-11T10:11:03Z |
| publishDate | 2019-04-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-7735696af4a443c5b02431b08e4bd6032022-12-22T01:11:44ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182019-04-011310.3389/fnbot.2019.00008434583Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-SensorLuca Massari0Luca Massari1Calogero M. Oddo2Edoardo Sinibaldi3Renaud Detry4Joseph Bowkett5Kalind C. Carpenter6Polo Sant'Anna Valdera, The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, ItalyDepartment of Linguistics and Comparative Cultural Studies, Ca' Foscari University of Venice, Venice, ItalyPolo Sant'Anna Valdera, The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, ItalyCenter for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Pontedera, ItalyJet Propulsion Laboratory, California Institute of Technology, NASA, Pasadena, CA, United StatesDepartment of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, United StatesJet Propulsion Laboratory, California Institute of Technology, NASA, Pasadena, CA, United StatesTactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot's internal representation of manipulated objects is uncertain. In this study we present the sensorization of an existing artificial hand, with the aim to achieve fine control of robotic limbs and perception of object's physical properties. Tactile feedback is conveyed by means of a soft sensor integrated at the fingertip of a robotic hand. The sensor consists of an optical fiber, housing Fiber Bragg Gratings (FBGs) transducers, embedded into a soft polymeric material integrated on a rigid hand. Through several tasks involving grasps of different objects in various conditions, the ability of the system to acquire information is assessed. Results show that a classifier based on the sensor outputs of the robotic hand is capable of accurately detecting both size and rigidity of the operated objects (99.36 and 100% accuracy, respectively). Furthermore, the outputs provide evidence of the ability to grab fragile objects without breakage or slippage e and to perform dynamic manipulative tasks, that involve the adaptation of fingers position based on the grasped objects' condition.https://www.frontiersin.org/article/10.3389/fnbot.2019.00008/fullroboticsmanipulation tasksfiber bragg gratingstactile sensorssensorized hand |
| spellingShingle | Luca Massari Luca Massari Calogero M. Oddo Edoardo Sinibaldi Renaud Detry Joseph Bowkett Kalind C. Carpenter Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor Frontiers in Neurorobotics robotics manipulation tasks fiber bragg gratings tactile sensors sensorized hand |
| title | Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor |
| title_full | Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor |
| title_fullStr | Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor |
| title_full_unstemmed | Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor |
| title_short | Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor |
| title_sort | tactile sensing and control of robotic manipulator integrating fiber bragg grating strain sensor |
| topic | robotics manipulation tasks fiber bragg gratings tactile sensors sensorized hand |
| url | https://www.frontiersin.org/article/10.3389/fnbot.2019.00008/full |
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