An Optical-based Fingertip Force Sensor

摘要

This work introduces the design and prototype development of a novel optical-based fingertip force sensor, which is integrated in a bio-mimetic finger for robotic and prosthetic manipulation. Given the optical nature of the sensor, the proposed device is free of any electrical and metal components. Accordingly, the design improves manipulation of objects with high electromagnetic compatibility performance, reducing sensor's susceptibility in the presence of these disturbances. The sensor has inherently high SNR and low-power consumption. The concept of using simplified and low cost optical based fingertip force sensor for bio-mimetic anthropomorphic fingers has not been widely implemented so far. The sensor is based on a cantilever design combined with a couple of fiber optics and a reflective surface, it is integrated on the distal phalange of a novel bio-mimetic and anthropomorphic robotic finger. Sensor design was performed and optimized throughout a 3D printing process and Finite Element Analysis. The sensor's sensitivity (0.098V/N), resolution (0.01N), accuracy (3% of full scale output (FS)) and hysteresis (9.24% of FS) were characterized through a calibration processes. Various applications like surgical manipulation or handling in harsh environment (i.e. high voltage, high temperature and explosive environments) will benefit from the proposed sensor's performance, reliability, simplicity and bio-compatibility.