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




Integration of Fiber-Optic Sensor Arrays into a Multi-Modal Tactile Sensor Processing System for Robotic End-Effectors - Download this document for free, or read online. Document in PDF available to download.

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





*

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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





Author: Peter Kampmann 1,* and Frank Kirchner 1,2

Source: http://mdpi.com/



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