Abstract

In this paper, we present the implementation of a new class of optical pressure sensors in a robotic tactile-sensing system based on polydimethylsiloxane (PDMS). The sensor consists of a tapered optical fiber, where an optical signal goes across, embedded into a PDMS–gold nanocomposite material (GNM). By applying different pressure forces onto the PDMS-based nanocomposite, changes in the optical transmittivity of the fiber can be detected in real time due to the coupling between the GNM and the tapered fiber region. The intensity reduction of a transmitted light is correlated to the pressure force magnitude. Light intensity is converted into an electric signal by a system suitable for robotic implementation. High sensitivity using forces by applying weights of a few grams is proved. Sensitivity on the order of 5 g is checked. A detailed algorithm for the detection of roughness and shapes by means of a robotic finger is proposed.

Autore Pugliese

• Lay Ekuakille Aime

Tutti gli autori

• A. MASSARO , F. SPANO , A. LAY EKUAKILLE , P. CAZZATO , R. CINGOLANI , A. ATHANASSIOU

Titolo volume/Rivista

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT

Anno di pubblicazione

2011

ISSN

0018-9456

ISBN

Non Disponibile

Numero di citazioni Wos

34

Ultimo Aggiornamento Citazioni

28/04/2018

Numero di citazioni Scopus

41

Ultimo Aggiornamento Citazioni

28/04/2018

Settori ERC

Non Disponibile

Codici ASJC

Non Disponibile