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ICRA
2008
IEEE

Fingertip force control with embedded fiber Bragg grating sensors

8 years 10 months ago
Fingertip force control with embedded fiber Bragg grating sensors
— We describe the dynamic testing and control results obtained with an exoskeletal robot finger with embedded fiber optical sensors. The finger is inspired by the designs of arthropod limbs, with integral strain sensilla concentrated near the joints. The use of fiber Bragg gratings (FBGs) allows for embedded sensors with high strain sensitivity and immunity to electromagnetic interference. The embedded sensors are useful for contact detection and for control of forces during fine manipulation. The application to force control requires precise and high-bandwidth measurement of contact forces. We present a nonlinear force control approach that combines signals from an optical interrogator and conventional joint angle sensors to achieve accurate tracking of desired contact forces.
Yong-Lae Park, Seok Chang Ryu, Richard J. Black, B
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Yong-Lae Park, Seok Chang Ryu, Richard J. Black, Behzad Moslehi, Mark R. Cutkosky
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