3D printing + optical sensor robot flexibility to a higher level
The sensor is one of the essential parts of the machine, which has driven the development of many machines. Recently, the development of the telescopic optical sensor at Carnegie Mellon University has brought the flexibility of the robot to a higher level.
Researchers at Carnegie Mellon University have developed a three-finger soft robotic hand with multiple 3D printed fiber optic sensors and a new type of retractable optical sensor. This soft robotic hand can detect forces below one tenth of a Newton. The project was supported by NASA.
Using fiber optics, the research team placed 14 tension sensors inside each robot finger, which were designed to mimic the bone structure of human fingers. The fingertips of each finger and the two "phalangles" are 3D printed. These "phalangles" are connected by joints, and the joints are covered with a silicone rubber "skin". This technique provides the machine's finger with the ability to determine where its fingertips are in contact and detect the insignificant forces they are subjected to. Although the latest scalable optical sensing materials are not used in current versions of robots, researchers hope to use them in future soft robot skins for greater feedback.
Objectively speaking, the current commonly used pressure or force sensors are problematic. This is because the wiring is too complicated and the sensor is easily broken. And they are extremely susceptible to interference from electric motors and other electromagnetic equipment. The use of fiber optic sensors does not have these problems, and even one fiber can contain several sensors. In this project, all the sensors on the robot's finger are connected to four fibers and they are fully immune to electromagnetic interference. Researchers say they developed the technology to increase robot autonomy. “If you want your robot to work autonomously and react safely to unexpected forces in your everyday environment, you need to have more sensors on your robot than are currently common.†Carnegie Mellon University Robotics According to Yong-LaePark, an associate professor, "There are thousands of tactile sensory units in the skin of a person's fingertips, and a spider has hundreds of mechanical stimuli on each leg. The most advanced human form at the moment. Robots, such as NASA's Robonaut, have only 42 sensors on their hands and wrists."
The robot hand developed by Park was helped by the school's mechanical engineering students LeoJiang and KevinLow. This device integrates a fiber Bragg grating (FBG) sensor currently on the market that detects the tension by measuring the displacement of the wavelength of the emitted light within the fiber. The fingers are bent by an active cymbal, while the other passive elastic cymbal provides the opposite force to straighten the fingers.
The new retractable optical sensor is the sensor that the development team hopes will be used in the next version of the robot. Because the traditional optical sensor lacks elasticity, it is known that the glass fiber can hardly be stretched, and even the optical fiber made of the polymer has a tensile flux of only 20% to 25%, and its use value is limited. However, by combining silicone rubber with a reflective gold, the researchers found that when pressure is applied to the sensor, light can escape, allowing them to measure the force accordingly. Park believes that this type of sensor can sense the contact at the same time and measure the force.
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