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Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation
基于结的光学传感器用于灵巧机器人操作中的打滑检测和摩擦测量
ノットベースの光センサは、器用なロボット操作におけるスリップ検出と摩擦測定に使用される
매듭 기반 광학 센서는 정교한 로봇 조작에서의 미끄럼 감지 및 마찰 측정에 사용됩니다.
Sensores ópticos basados en nudos para la detección de deslizamiento y la medición de fricción en el funcionamiento de robots inteligentes
Capteurs optiques à base de nœuds pour la détection de glissement et la mesure de frottement dans le fonctionnement de robots agiles
Оптические датчики на основе узлов используются для обнаружения скольжения и измерения трения в ловких роботизированных операциях
Jing Pan 潘婧 ¹, Qi Wang 王琪 ¹, Shuaikang Gao 高帅康 ¹, Zhang Zhang 张璋 ¹, Yu Xie 谢宇 ¹, Longteng Yu 余龙腾 ¹, Lei Zhang 张磊 ¹ ²
¹ Research Center for Humanoid Sensing, Zhejiang Lab, Hangzhou 311100, China
中国 杭州 之江实验室 类人感知研究中心
² State Key Laboratory of Modern Optical Instrumentation, College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, China
中国 杭州 浙江大学 现代光学仪器国家重点实验室
Opto-Electronic Advances, 31 October 2023
Abstract

Friction plays a critical role in dexterous robotic manipulation. However, realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces. Inspired by the topological mechanics of knots, we construct optical fiber knot (OFN) sensors for slip detection and friction measurement.

By introducing localized self-contacts along the fiber, the knot structure enables anisotropic responses to normal and frictional forces. By employing OFNs and a change point detection algorithm, we demonstrate adaptive robotic grasping of slipping cups. We further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five OFNs.

Such a tactile finger allows a robotic hand to manipulate human tools dexterously. This work could provide a straightforward and cost-effective strategy for promoting adaptive grasping, dexterous manipulation, and human-robot interaction with tactile sensing.
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