Fingertip Force Control with Embedded Fiber Bragg Grating Sensors
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Fingertip Force Control with Embedded Fiber Bragg Grating Sensors •Embedded FBG optical sensors are utilized for force control in bio- inspired robot fingers. •The robot hand is operated in a hybrid control scheme that switches between position and non-linear force control using combined signals from an optical interrogator and Yong-Lae Park 1 , Seok Chang Ryu 1 , Richard J. Black 2 , Behzad Moslehi 2 , and Mark R. Cutkosky 1 1 Center for Design Research, Stanford University, USA 2 Intelligent Fiber Optic Systems Corporation, USA FBG Finger Load Cell Dexter Manipulator FBG Embedded Force Sensing Finger Adept Industrial Robot Arm
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FBG Finger Load Cell. Fingertip Force Control with Embedded Fiber Bragg Grating Sensors. Yong-Lae Park 1 , Seok Chang Ryu 1 , Richard J. Black 2 , Behzad Moslehi 2 , and Mark R. Cutkosky 1 1 Center for Design Research, Stanford University, USA - PowerPoint PPT Presentation
Transcript of Fingertip Force Control with Embedded Fiber Bragg Grating Sensors
Fingertip Force Control with EmbeddedFiber Bragg Grating Sensors
• Embedded FBG optical sensors are utilized for force control in bio-inspired robot fingers.
• The robot hand is operated in a hybrid control scheme that switches between position and non-linear force control using combined signals from an optical interrogator and joint angle sensors.
• The finger sensors are capable of resolving small forces and immune to electromagnetic disturbances.
Yong-Lae Park1, Seok Chang Ryu1, Richard J. Black2,Behzad Moslehi2, and Mark R. Cutkosky1
1Center for Design Research, Stanford University, USA2Intelligent Fiber Optic Systems Corporation, USA
FBG FingerLoad Cell
Dexter Manipulator
FBG Embedded Force Sensing Finger
Adept Industrial Robot Arm
