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Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor

Soft robotics is an emerging field, since it offers distinct opportunities in areas where conventional rigid robots are not a feasible solution. However, due to the complex motions of soft robots and the stretchable nature of soft building materials, conventional electronic and fiber optic sensors c...

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Detalles Bibliográficos
Autores principales: Yang, Mei, Liu, Qidi, Naqawe, Hamza Sayed, Fok, Mable P.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7085586/
https://www.ncbi.nlm.nih.gov/pubmed/32121229
http://dx.doi.org/10.3390/s20051312
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author Yang, Mei
Liu, Qidi
Naqawe, Hamza Sayed
Fok, Mable P.
author_facet Yang, Mei
Liu, Qidi
Naqawe, Hamza Sayed
Fok, Mable P.
author_sort Yang, Mei
collection PubMed
description Soft robotics is an emerging field, since it offers distinct opportunities in areas where conventional rigid robots are not a feasible solution. However, due to the complex motions of soft robots and the stretchable nature of soft building materials, conventional electronic and fiber optic sensors cannot be used in soft robots, thus, hindering the soft robots’ ability to sense and respond to their surroundings. Fiber Bragg grating (FBG)-based sensors are very popular among various fiber optic sensors, but their stiff nature makes it challenging to be used in soft robotics. In this study, a soft robotic gripper with a sinusoidally embedded stretchable FBG-based fiber optic sensor is demonstrated. Unlike a straight FBG embedding configuration, this unique sinusoidal configuration prevents sensor dislocation, supports stretchability and improves sensitivity by seven times when compared to a straight configuration. Furthermore, the sinusoidally embedded FBG facilitates the detection of various movements and events occurring at the soft robotic gripper, such as (de)actuation, object holding and external perturbation. The combination of a soft robot and stretchable fiber optic sensor is a novel approach to enable a soft robot to sense and response to its surroundings, as well as to provide its operation status to the controller.
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spelling pubmed-70855862020-03-23 Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor Yang, Mei Liu, Qidi Naqawe, Hamza Sayed Fok, Mable P. Sensors (Basel) Article Soft robotics is an emerging field, since it offers distinct opportunities in areas where conventional rigid robots are not a feasible solution. However, due to the complex motions of soft robots and the stretchable nature of soft building materials, conventional electronic and fiber optic sensors cannot be used in soft robots, thus, hindering the soft robots’ ability to sense and respond to their surroundings. Fiber Bragg grating (FBG)-based sensors are very popular among various fiber optic sensors, but their stiff nature makes it challenging to be used in soft robotics. In this study, a soft robotic gripper with a sinusoidally embedded stretchable FBG-based fiber optic sensor is demonstrated. Unlike a straight FBG embedding configuration, this unique sinusoidal configuration prevents sensor dislocation, supports stretchability and improves sensitivity by seven times when compared to a straight configuration. Furthermore, the sinusoidally embedded FBG facilitates the detection of various movements and events occurring at the soft robotic gripper, such as (de)actuation, object holding and external perturbation. The combination of a soft robot and stretchable fiber optic sensor is a novel approach to enable a soft robot to sense and response to its surroundings, as well as to provide its operation status to the controller. MDPI 2020-02-28 /pmc/articles/PMC7085586/ /pubmed/32121229 http://dx.doi.org/10.3390/s20051312 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yang, Mei
Liu, Qidi
Naqawe, Hamza Sayed
Fok, Mable P.
Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor
title Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor
title_full Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor
title_fullStr Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor
title_full_unstemmed Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor
title_short Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor
title_sort movement detection in soft robotic gripper using sinusoidally embedded fiber optic sensor
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7085586/
https://www.ncbi.nlm.nih.gov/pubmed/32121229
http://dx.doi.org/10.3390/s20051312
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