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Sensors 2014, 14(4), 6854-6876; doi:10.3390/s140406854

Integration of Fiber-Optic Sensor Arrays into a Multi-Modal Tactile Sensor Processing System for Robotic End-Effectors

1
DFKI GmbH, Robotics Innovation Center (RIC), Robert-Hooke-Str. 1, Bremen D-28359, Germany
2
Robotics Group, Department of Mathematics and Computer Science, University of Bremen,Robert-Hooke-Str. 1, Bremen D-28359, Germany
*
Author to whom correspondence should be addressed.
Received: 7 January 2014 / Revised: 1 April 2014 / Accepted: 11 April 2014 / Published: 16 April 2014
(This article belongs to the Special Issue Tactile Sensors and Sensing Systems)

Abstract

With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing one modality of forces in the robotic end-effector. The use of a multi-modal tactile sensory system is motivated, which combines static and dynamic force sensor arrays together with an absolute force measurement system. This publication is focused on the development of a compact sensor interface for a fiber-optic sensor array, as optic measurement principles tend to have a bulky interface. Mechanical, electrical and software approaches are combined to realize an integrated structure that provides decentralized data pre-processing of the tactile measurements. Local behaviors are implemented using this setup to show the effectiveness of this approach. View Full-Text
Keywords: multi-modal tactile sensing; tactile sensor processing; local pre-processing multi-modal tactile sensing; tactile sensor processing; local pre-processing
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Kampmann, P.; Kirchner, F. Integration of Fiber-Optic Sensor Arrays into a Multi-Modal Tactile Sensor Processing System for Robotic End-Effectors. Sensors 2014, 14, 6854-6876.

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