Related papers: Miniature Fibre-Optic based Shape Sensing for Robo…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estimation in many collaborative robots suffers from poor…
We propose and theoretically study a new hollow-core fiber-based curvature sensor with the capability of detecting both bending magnitude and angle (direction). The new sensor relies on a tubular-lattice fiber that encompasses, in its…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…
This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor of 13~mm x 7~mm x 6.5~mm and is capable of measuring tensile…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
We propose and demonstrate a compact and simple vector bending sensor capable of distinguishing any direction and amplitude with high accuracy. The sensor consists of a short segment of asymmetric multicore fiber (MCF) fusion spliced to a…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
The present work deals with a curvature sensor that consists of two segments of asymmetric multicore fiber (MCF) fusion spliced with standard single mode fiber (SMF). The MCF comprises three strongly coupled cores; one of such cores is at…
Optical fibre-based sensors measuring refractive index shift in bodily fluids and tissues are versatile and accurate probes of physiological processes. Here, we suggest a refractive index sensor based on a microstructured exposed-core fibre…
The use of optical fiber as sensor as well as transmission medium for sensing data is discussed, enabling the use of optically active sensors without power supply at distances of tens of kilometers. Depending on the interrogation system, a…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
Human skin can accurately sense the self-decoupled normal and shear forces when in contact with objects of different sizes. Although there exist many soft and conformable tactile sensors on robotic applications able to decouple the normal…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
In this paper, we report the development of an intensity modulated fiber optic sensor for angular displacement measurement. This sensor was designed to present high sensitivity, linear response, wide bandwidth and, furthermore, to be simple…
Wearable devices are becoming increasingly important, addressing needs in both the fitness and the medical markets. In this paper, we describe a novel sensing platform based on a hollow-core polyurethane optical fiber, operating through…
The goal of this project is to create an inexpensive, lightweight, wearable assistive device that can measure hand or finger movements accurately enough to identify a range of hand gestures. One eventual application is to provide assistive…
Optical detection of structures with dimensions smaller than an optical wavelength requires devices that work on scales beyond the diffraction limit. Here we present the possibility of using a tapered optical nanofiber as a detector to…