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    A new optical photo interrupter sensor measures forces and torques for soft robotic arms like STIFF-FLOP. This adaptable sensor enhances robotic interaction capabilities.

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    Area of Science:

    • Robotics
    • Sensor Technology
    • Biomedical Engineering

    Background:

    • Soft robotic manipulators require precise force and torque sensing for safe and effective operation.
    • Existing sensing solutions may not be compatible with the flexible and compliant nature of soft robots.

    Purpose of the Study:

    • To develop and validate a novel three-axis force sensor for soft robotic manipulators.
    • To integrate the sensor with the STIFF-FLOP (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations) robot arm.
    • To enable real-time estimation of external interacting forces and torques.

    Main Methods:

    • Design and fabrication of a ring-shaped, bio-compatible optical sensor using photo interrupters.
    • Integration of the sensor with the STIFF-FLOP manipulator's distributed actuation and sensing system.
    • Development of a stiffness sensor matrix for force and torque component estimation.

    Main Results:

    • Experimental calibration established the sensor's performance characteristics.
    • The sensor effectively measures three-axis forces and torques.
    • The optical sensing approach demonstrated its utility and reliability.

    Conclusions:

    • The novel optical force sensor is a viable solution for soft robotic applications.
    • The sensor's design is adaptable to various soft robotic manipulator geometries.
    • This technology advances the capabilities of compliant robotic systems in interaction tasks.