Stretchable Optical Waveguide Sensor Suitability for Wrinkle Degree Detection in Soft Robots
Stretchable Optical Waveguide Sensor Suitability for Wrinkle Degree Detection in Soft Robots
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DOI：
10.1109/robosoft55895.2023.10122087
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发表时间：
2023-04
期刊：
影响因子：
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通讯作者：
J. G. Williamson;Joshua A. Schultz
中科院分区：
文献类型：
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作者：
J. G. Williamson;Joshua A. Schultz
每个光波导形变传感器的成本不到15美元，并对其在检测薄壁软体机器人皱纹严重程度方面的有效性进行了评估。这种严重程度通过机器人产生的弯曲角度来量化。传感器被集成到机器人的皮肤中，并进行测试以确定它们的有用性。事实证明，传感器能够准确跟踪机械臂在突然载荷下降测试、突然压力损失测试、增量载荷测试和增量压力测试中产生皱纹时的弯曲角度。具体地说，跌落测试跟踪了许多快速波动中的弯曲角度。
Optical waveguide deformation sensors are created for less than 15 US Dollars each and evaluated for their usefulness in detecting the severity of wrinkles in a thin-walled soft robot. This severity is quantified by the bend angle produced in the robot. The sensors are integrated into the skin of the robot and tests are performed to determine their usefulness. The sensors prove to be able to accurately track the bend angle of the robotic arm as a wrinkle is induced in a sudden load drop test, a sudden pressure loss test, an incremented load test, and an incremented pressure test. The drop test, specifically, tracked bend angle through many rapid undulations.