TY - JOUR
T1 - A 2-axis optical force-torque fingertip sensor for dexterous grasping using linear polarizers
AU - Sargeant, Ramon
AU - Seneviratne, Lakmal D.
AU - Althoefer, Kaspar
N1 - Funding Information:
Manuscript received October 5, 2011; revised April 20, 2012; accepted May 16, 2012. Date of publication September 17, 2012; date of current version November 15, 2012. This work was supported by the HANDLE Project, which, in turn, is supported by the European Community’s Seventh Framework Program (FP7/2007-2013) under Grant Agreement ICT 231640. The Associate Editor coordinating the review process for this paper was Dr. George Xiao.
PY - 2012
Y1 - 2012
N2 - This paper presents a two-axis force/torque sensor (one force and one torque) that uses light-intensity modulation techniques to measure the contact force and torque between a robotic finger and an object. The sensor has a diameter of 9 ×10-3m and a height of 10 × 10 -3m. The sensor incorporates linearly aligned fiber-optic cables, linear polarizers, and nitinol wire strips into a rigid structure made of plastic. The nitinol wire strips allow certain parts of the structure to deform under applied forces. A model of the sensor is presented, and calibration experiments were conducted, validating the model. The sensor was also incorporated into the fingertip of a Barrett Hand, and experiments were conducted on three objects, i.e., a power adapter, a partially filled plastic bottle, and a curved paper punch to identify the sensor's response to different surface profiles. The sensor's data are also compared with data from a Nano17 force and torque sensor, and the results from the two sensors are discussed.
AB - This paper presents a two-axis force/torque sensor (one force and one torque) that uses light-intensity modulation techniques to measure the contact force and torque between a robotic finger and an object. The sensor has a diameter of 9 ×10-3m and a height of 10 × 10 -3m. The sensor incorporates linearly aligned fiber-optic cables, linear polarizers, and nitinol wire strips into a rigid structure made of plastic. The nitinol wire strips allow certain parts of the structure to deform under applied forces. A model of the sensor is presented, and calibration experiments were conducted, validating the model. The sensor was also incorporated into the fingertip of a Barrett Hand, and experiments were conducted on three objects, i.e., a power adapter, a partially filled plastic bottle, and a curved paper punch to identify the sensor's response to different surface profiles. The sensor's data are also compared with data from a Nano17 force and torque sensor, and the results from the two sensors are discussed.
KW - Fiber optics
KW - fingertip force/torque sensors
KW - grasping
KW - linear polarizers
UR - http://www.scopus.com/inward/record.url?scp=84869495334&partnerID=8YFLogxK
U2 - 10.1109/TIM.2012.2210456
DO - 10.1109/TIM.2012.2210456
M3 - Article
AN - SCOPUS:84869495334
SN - 0018-9456
VL - 61
SP - 3363
EP - 3377
JO - IEEE Transactions on Instrumentation and Measurement
JF - IEEE Transactions on Instrumentation and Measurement
IS - 12
M1 - 6304923
ER -