全方向適応型ソフトロボット指のためのスケーラブルな触覚センシング
Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger
柔軟なソフトロボット指の内部に光ファイバを埋め込み、適応性能を損なわずに物体の径やひずみを計測できる低コスト・防湿性の触覚センサを実現した。
著者: Zeyi Yang, Sheng Ge, Fang Wan, Yujia Liu, Chaoyang Song
分類: cs.RO, cs.LG
原文アブストラクト
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 an omni-adaptive soft robotic finger with exceptional adaptation in all directions. In particular, we managed to insert a pair of optical fibers inside the finger's structural cavity without interfering with its adaptive performance. The resultant integration is scalable as a versatile, low-cost, and moisture-proof solution for physically safe human-robot interaction. In addition, we experimented with our finger design for an object sorting task and identified sectional diameters of 94\% objects within the $\pm$6mm error and measured 80\% of the structural strains within $\pm$0.1mm/mm error. The proposed sensor design opens many doors in future applications of soft robotics for scalable and adaptive physical interactions in the unstructured environment.
