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Samuel Frishman, Julia Di, Zulekha Karachiwalla, Richard J. Black, Kian Moslehi, Trey Smith, Brian Coltin, Bijan Moslehi, and Mark Cutkosky. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2021.
Tactile sensing can improve end-effector control and grasp quality, especially for free-flying robots where target approach and alignment present particular challenges. How- ever, many current tactile sensing technologies are not suitable for the harsh environment of space. We present a tactile sensor that measures normal and biaxial shear strains in the pads of a gripper using a single optical fiber with Bragg grating (FBG) sensors. Compared to conventional wired solutions, the encapsulated optical fibers are immune to electromagnetic inter- ference — critical in the harsh environment of space. Sampling is possible at over 1 kHz to detect dynamic events. We mount sensor pads on a custom two-fingered gripper with independent control of the distal and proximal phalanges, allowing for grip readjustment based on sensing data. Calibrated sensor data for forces match those from a commercial multiaxial load cell with an average 96.2% RMS for all taxels. We demonstrate the gripper on tasks motivated by the Astrobee free-flying robots in the International Space Station (ISS): gripping corners, detecting misaligned grasps, and improving load sharing over the contact areas in pinch grasps.
@InProceedings{frishman21:tactile_sensing,
author = {Samuel Frishman and Julia Di and Zulekha Karachiwalla and Richard J. Black and Kian Moslehi and Trey Smith and Brian Coltin and Bijan Moslehi and Mark Cutkosky},
title = {A Multi-Axis {FBG}-Based Tactile Sensor for Gripping in Space},
booktitle = {Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2021,
}
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