Force Sensing Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing Export

@inproceedings{Park2007, abstract = {Force sensing is an essential requirement for dexterous robot manipulation. Although strain gages have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility and immunity to electromagnetic noise. An exoskeletal force sensing robot finger was developed by embedding fiber Bragg grating (FBG) sensors into a polymer-based structure. Multiple FBG sensors were embedded into the structure to allow the manipulator to sense and measure both contact forces and grasping forces. In order to fabricate a three-dimensional structure, a new shape deposition manufacturing (SDM) process was explored. The sensorized SDM-fabricated finger was then characterized using an FBG interrogator. A force localization scheme is also described}, author = {Park, Yong-Lae and Chau, K. and Black, R. J. and Cutkosky, M. R.}, booktitle = {Robotics and Automation, 2007 IEEE International Conference on}, citeulike-article-id = {3100628}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ROBOT.2007.363538}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4209302}, doi = {10.1109/ROBOT.2007.363538}, journal = {Robotics and Automation, 2007 IEEE International Conference on}, keywords = {bragg, deposition, fiber, grating, manufacturing, shape}, pages = {1510--1516}, posted-at = {2009-06-29 23:48:21}, priority = {0}, title = {Force Sensing Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing}, url = {http://dx.doi.org/10.1109/ROBOT.2007.363538}, year = {2007} }

TY - CONF ID - Park2007 L3 - citeulike-article-id:3100628 N2 - Force sensing is an essential requirement for dexterous robot manipulation. Although strain gages have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility and immunity to electromagnetic noise. An exoskeletal force sensing robot finger was developed by embedding fiber Bragg grating (FBG) sensors into a polymer-based structure. Multiple FBG sensors were embedded into the structure to allow the manipulator to sense and measure both contact forces and grasping forces. In order to fabricate a three-dimensional structure, a new shape deposition manufacturing (SDM) process was explored. The sensorized SDM-fabricated finger was then characterized using an FBG interrogator. A force localization scheme is also described JF - Robotics and Automation, 2007 IEEE International Conference on EP - 1516 TI - Force Sensing Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing T2 - Robotics and Automation, 2007 IEEE International Conference on SP - 1510 KW - bragg KW - deposition KW - fiber KW - grating KW - manufacturing KW - shape AU - Park, Yong-Lae AU - Chau, K AU - Black, RJ AU - Cutkosky, MR PY - 2007/// UR - http://dx.doi.org/10.1109/ROBOT.2007.363538 ER -