Fiber Optic Shape Sensing for Soft Robotics
| Autor: | Emily H. Templeton, Isuru S. Godage, Kevin C. Galloway, Eric J. Barth, Brian Rife, Yue Chen |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
soft robotics
0209 industrial biotechnology Optical fiber fiber optic shape sensor Computer science soft actuator Biophysics Soft robotics Mechanical engineering 02 engineering and technology law.invention Computer Science::Robotics 020901 industrial engineering & automation Artificial Intelligence law Full state feedback medicine soft sensor Collision detection Open-loop controller Stiffness Original Articles 021001 nanoscience & nanotechnology Soft sensor Control and Systems Engineering medicine.symptom 0210 nano-technology Actuator |
| Zdroj: | Soft Robotics |
| ISSN: | 2169-5180 2169-5172 |
| DOI: | 10.1089/soro.2018.0131 |
| Popis: | While soft material actuators can undergo large deformations to execute very complex motions, what is critically lacking in soft material robotic systems is the ability to collect high-resolution shape information for sophisticated functions such as environmental mapping, collision detection, and full state feedback control. This work explores the potential of a nearly commercial fiber optic shape sensor (FOSS) and presents the first demonstrations of a monolithic, multicore FOSS integrated into the structure of a fiber-reinforced soft actuator. In this pilot study, we report an open loop sensorized soft actuator capable of submillimeter position feedback that can detect the soft actuator's shape, environmental shapes, collision locations, and material stiffness properties. |
| Databáze: | OpenAIRE |
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