Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation
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

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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