File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
  • Find via Find It@HKUL
Supplementary

Conference Paper: A flexible dual-core optical waveguide sensor for simultaneous and continuous measurement of contact force and position

TitleA flexible dual-core optical waveguide sensor for simultaneous and continuous measurement of contact force and position
Authors
KeywordsForce and Tactile Sensing
Soft Sensors and Actuators
Perception for Grasping and Manipulation
Optical variables measurement
Optical sensors
Issue Date2020
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000393
Citation
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Consumer Robots and Our Future, Virtual Conference, Las Vegas, USA, 25-29 October 2020, p. 7375-7380 How to Cite?
AbstractHaving the merits of chemical inertness and immunity to electromagnetic interference, light weight, small size, and softness, optical waveguides have attracted much attention in making tactile sensors recently. This paper presents a new design of waveguide using two layers of cores, one of which has an uniform width and the other has an incremental width. It is deduced and verified that the contact force can be derived from the light power loss in the uniform-width core, while the contact position can be derived from the light power loss in the other core together with the estimated force. By this dual-core design, a single waveguide can simultaneously and continuously measure the contact force and position along it, which makes it very suited for integration on some thin long robotic parts, such as robotic fingers. A hardware experiment has been conducted to demonstrate its effectiveness on a two-finger gripper in an assembly task. The dual-core waveguide achieves 2 mm spatial resolution and 0.1 N sensitivity
DescriptionTuDT7 Force and Torque Sensing - Paper TuDT7.4
Persistent Identifierhttp://hdl.handle.net/10722/285069
ISSN

 

DC FieldValueLanguage
dc.contributor.authorZhang, Z-
dc.contributor.authorZheng, Y-
dc.contributor.authorPan, J-
dc.contributor.authorLi, X-
dc.contributor.authorLi, K-
dc.contributor.authorZhang, ZY-
dc.date.accessioned2020-08-07T09:06:18Z-
dc.date.available2020-08-07T09:06:18Z-
dc.date.issued2020-
dc.identifier.citationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Consumer Robots and Our Future, Virtual Conference, Las Vegas, USA, 25-29 October 2020, p. 7375-7380-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/285069-
dc.descriptionTuDT7 Force and Torque Sensing - Paper TuDT7.4-
dc.description.abstractHaving the merits of chemical inertness and immunity to electromagnetic interference, light weight, small size, and softness, optical waveguides have attracted much attention in making tactile sensors recently. This paper presents a new design of waveguide using two layers of cores, one of which has an uniform width and the other has an incremental width. It is deduced and verified that the contact force can be derived from the light power loss in the uniform-width core, while the contact position can be derived from the light power loss in the other core together with the estimated force. By this dual-core design, a single waveguide can simultaneously and continuously measure the contact force and position along it, which makes it very suited for integration on some thin long robotic parts, such as robotic fingers. A hardware experiment has been conducted to demonstrate its effectiveness on a two-finger gripper in an assembly task. The dual-core waveguide achieves 2 mm spatial resolution and 0.1 N sensitivity-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000393-
dc.relation.ispartofIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Proceedings-
dc.rightsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Proceedings. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectForce and Tactile Sensing-
dc.subjectSoft Sensors and Actuators-
dc.subjectPerception for Grasping and Manipulation-
dc.subjectOptical variables measurement-
dc.subjectOptical sensors-
dc.titleA flexible dual-core optical waveguide sensor for simultaneous and continuous measurement of contact force and position-
dc.typeConference_Paper-
dc.identifier.emailPan, J: jpan@cs.hku.hk-
dc.identifier.authorityPan, J=rp01984-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.hkuros312224-
dc.identifier.spage7375-
dc.identifier.epage7380-
dc.publisher.placeUnited States-
dc.identifier.issnl2153-0858-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats