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Movement Detection in Soft Robotic Gripper using Sinusoidally Embedded Fiber Optic Sensor.

Mei Yang1, Qidi Liu1, Hamza Sayed Naqawe1

  • 1Lightwave and Microwave Photonics Laboratory, College of Engineering, University of Georgia, Athens, GA 30602, USA.

Sensors (Basel, Switzerland)
|March 4, 2020
PubMed
Summary

This study introduces a novel soft robotic gripper with a stretchable fiber optic sensor. A unique sinusoidal embedding of Fiber Bragg Gratings (FBGs) enhances sensing capabilities and prevents sensor dislocation in soft robots.

Keywords:
fiber Bragg grating (FBG)fiber sensormovement detectionsoft roboticstretchable sensor

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Area of Science:

  • Robotics
  • Materials Science
  • Sensor Technology

Background:

  • Soft robotics offers advantages over rigid robots in specific applications.
  • Conventional sensors face limitations in soft robots due to complex motions and material stretchability.
  • Fiber Bragg Grating (FBG) sensors, while popular, are typically too stiff for soft robotic integration.

Purpose of the Study:

  • To develop a stretchable fiber optic sensor for soft robotic applications.
  • To improve the sensing and responsiveness of soft robots.
  • To overcome the limitations of conventional sensors in soft robotic systems.

Main Methods:

  • A soft robotic gripper was designed and fabricated.
  • A stretchable Fiber Bragg Grating (FBG)-based fiber optic sensor was embedded in a sinusoidal configuration.
  • The performance of the sinusoidal FBG embedding was compared to a straight configuration.

Main Results:

  • The sinusoidal FBG embedding prevented sensor dislocation and supported material stretchability.
  • Sensor sensitivity was improved sevenfold compared to a straight FBG configuration.
  • The embedded sensor effectively detected gripper (de)actuation, object holding, and external perturbations.

Conclusions:

  • The combination of soft robotics and stretchable fiber optic sensors is a novel approach.
  • Sinusoidal FBG embedding enhances soft robot sensing and operational feedback.
  • This technology enables soft robots to perceive their environment and report operational status.