Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands

Abstract

This paper presents a novel approach of performing artificial tactile sensing based on the deployment of prismatic-tip optical fibers. The primary principle of the sensing schemes relies on light intensity modulation for detecting the deformation of an elastic element experiencing a force load. By measuring the change of light signal intensity, the magnitude of the applied force can be determined. The force distribution over an area can be evaluated using an array of optical fibers. The tactile sensor array prototype described in this paper demonstrates its capability and feasibility in performing tactile sensing and force measurement over a range of approximately 0 to 4.8 N. Due to its simple sensing structure, it is easy to manufacture and the sensor can be miniaturized for applications in dexterous robotic handling.