Shape and Hardness Perception of Robot Soft Finger Based on Fiber Bragg Grating
Shape and Hardness Perception of Robot Soft Finger Based on Fiber Bragg Grating
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DOI：
10.1109/mim.2023.10121386
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发表时间：
2023-05
影响因子：
2.1
通讯作者：
Q. Jiang;Jialiang Yan
中科院分区：
文献类型：
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作者：
Q. Jiang;Jialiang Yan
针对机器人手对触觉传感的需求不断增加的情况，设计了一种能够实现物体形状识别和硬度检测的机器人软手。利用光纤布拉格光栅（FBG）的高灵敏度和波分复用特性，提出了一种单光纤串联多个FBG的分布式检测方法，可以同时解调弯曲和压力，减少布线，提高效率。
Due to the increasing demand for tactile sensing of robotic hands, this paper designs a soft robot hand that can realize object shape recognition and hardness detection. Taking advantage of the high sensitivity and wavelength division multiplexing of Fiber Bragg Gratings (FBG), a distributed detection method using a single fiber in series with multiple FBG is proposed, which can demodulate bending and pressure at the same time, reduce wiring and improve efficiency.