Integration of fiber-optic sensor arrays into a multi-modal tactile sensor processing system for robotic...

Area of Science:

• Robotics and Autonomous Systems
• Sensor Technology
• Optoelectronics

Background:

• Increasing complexity of robotic missions necessitates advanced environmental sensing.
• Current robotic tactile sensors primarily focus on single-force modalities.
• The need for multi-modal tactile sensing, integrating static, dynamic, and absolute force measurements, is growing.

Purpose of the Study:

• To develop a compact sensor interface for fiber-optic tactile sensor arrays.
• To address the challenge of bulky interfaces associated with optical measurement principles.
• To enable decentralized data pre-processing for tactile measurements.

Main Methods:

• Integration of mechanical, electrical, and software engineering approaches.
• Development of a compact sensor interface for fiber-optic sensor arrays.
• Implementation of local behaviors for decentralized data pre-processing.

Main Results:

• Successful development of an integrated structure for a compact sensor interface.
• Demonstration of decentralized data pre-processing capabilities for tactile measurements.
• Validation of the approach's effectiveness through implemented local behaviors.

Conclusions:

• The developed compact sensor interface effectively supports multi-modal tactile sensing in robotics.
• Decentralized data pre-processing enhances the efficiency of tactile measurement systems.
• This integrated approach advances the development of sophisticated autonomous robotic systems.