TY - GEN
T1 - Pixel-based optical fiber tactile force sensor for robot manipulation
AU - Xie, Hui
AU - Jiang, Allen
AU - Seneviratne, Lakmal
AU - Althoefer, Kaspar
PY - 2012
Y1 - 2012
N2 - This paper investigates novel tactile sensing concepts of a fiber optic sensor that can be integrated with minimally invasive surgical (MIS) manipulation tools whilst being Magnetic Resonance (MR) compatible. A 3×3 tactile optical fiber sensor was developed, and is able to measure applied normal forces. Forces are converted from the deflections of a set of nine flexures that are connected to a system of mirrors which, in turn, reflect light received from transmitting fibers to detection fibers. The changes in light intensity are ultimately read-out by a camera system. The images received by the camera attached at the end of the detection fibers are then processed on a computer system using Matlab. Employing a calibration process, the applied forces can be related to the number of activated pixels per received fiber image. This system enables an array of tactile flexures to be recorded via a single camera.
AB - This paper investigates novel tactile sensing concepts of a fiber optic sensor that can be integrated with minimally invasive surgical (MIS) manipulation tools whilst being Magnetic Resonance (MR) compatible. A 3×3 tactile optical fiber sensor was developed, and is able to measure applied normal forces. Forces are converted from the deflections of a set of nine flexures that are connected to a system of mirrors which, in turn, reflect light received from transmitting fibers to detection fibers. The changes in light intensity are ultimately read-out by a camera system. The images received by the camera attached at the end of the detection fibers are then processed on a computer system using Matlab. Employing a calibration process, the applied forces can be related to the number of activated pixels per received fiber image. This system enables an array of tactile flexures to be recorded via a single camera.
UR - https://www.scopus.com/pages/publications/84873956373
U2 - 10.1109/ICSENS.2012.6411462
DO - 10.1109/ICSENS.2012.6411462
M3 - Conference contribution
AN - SCOPUS:84873956373
SN - 9781457717659
T3 - Proceedings of IEEE Sensors
BT - IEEE SENSORS 2012 - Proceedings
T2 - 11th IEEE SENSORS 2012 Conference
Y2 - 28 October 2012 through 31 October 2012
ER -