Flexible dual-core optical waveguide with variable contact-induced losses for quasi-distributed tactile sensing

Area of Science:

• Robotics and Materials Science
• Optical Sensing Technologies

Background:

• Optical waveguide tactile sensors are vital for measuring forces with high sensitivity and EMI resistance.
• Existing sensors face challenges in simultaneously measuring force magnitude and location accurately.
• Distributed tactile sensing is a key area for enhancing robotic perception.

Purpose of the Study:

• To develop a novel flexible dual-core optical waveguide tactile sensor.
• To enable independent measurement of force magnitude and contact position.
• To demonstrate the sensor's utility in robotic applications.

Main Methods:

• Fabrication of a dual-core waveguide using polydimethylsiloxane (PDMS) and fluorinated polymethyl methacrylate (PMMA).
• Utilizing a gradient loss-inducing contactor for position discrimination.
• Experimental validation of force and position decoupling through applied forces at various locations.

Main Results:

• The PDMS core provided consistent force signals, while the PMMA core showed position-dependent responses.
• Achieved a spatial resolution of 4 mm and a dynamic force range of 0-6 N.
• Successfully integrated the sensor onto robotic grippers for object localization and pressure detection.

Conclusions:

• The proposed dual-core sensor effectively decouples force magnitude and location.
• Its flexibility and quasi-distributed sensing capabilities are promising for intelligent robotics.
• The sensor offers a new approach for enhancing robotic tactile perception and interaction.