Integration of Fiber-Optic Sensor Arrays into a Multi-Modal Tactile Sensor Processing System for Robotic End-Effectors

Peter Kampmann, Frank Kirchner

In: Sensors - Open Access Journal (Sensors) 14 - Special Issue Tactile Sensors and Sensing Systems 4 Seiten 6854-6876 MDPI - Open Access Publishing 4/2014.


With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing one modality of forces in the robotic end-effector. The use of a multi-modal tactile sensory system is motivated, which combines static and dynamic force sensor arrays together with an absolute force measurement system. This publication is focused on the development of a compact sensor interface for a fiber-optic sensor array, as optic measurement principles tend to have a bulky interface. Mechanical, electrical and software approaches are combined to realize an integrated structure that provides decentralized data pre-processing of the tactile measurements. Local behaviors are implemented using this setup to show the effectiveness of this approach.


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140416_Integration_of_Fiber-Optic_Sensor_Arrays_into_a_Multi-Modal_Tactile_Sensor_Processing_System_for_Robotic_End-Effectors_SENSORS_Kampman.pdf (pdf, 5 MB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence