Fiber Optic Shape Sensing for Soft Robotics

Abstract While soft material actuators can undergo large deformations to execute very complex motions, what is critically lacking in soft material robotic systems is the ability to collect high-resolution shape information for sophisticated functions such as environmental mapping, collision detection, and full state feedback control. This work explores the potential of a nearly commercial fiber optic shape sensor (FOSS) and presents the first demonstrations of a monolithic, multicore FOSS integrated into the structure of a fiber-reinforced soft actuator. In this pilot study, we report an open loop sensorized soft actuator capable of submillimeter position feedback that can detect the soft actuator's shape, environmental shapes, collision locations, and material stiffness properties.

[1]  Yon Visell,et al.  Stretchable, Twisted Conductive Microtubules for Wearable Computing, Robotics, Electronics, and Healthcare , 2017, Scientific Reports.

[2]  Brian Byunghyun Kang,et al.  Development of a polymer-based tendon-driven wearable robotic hand , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[3]  Jenny Dankelman,et al.  Error Analysis of FBG-Based Shape Sensors for Medical Needle Tracking , 2014, IEEE/ASME Transactions on Mechatronics.

[4]  Huichan Zhao,et al.  Stretchable Optical Fibers: Threads for Strain‐Sensitive Textiles , 2017 .

[5]  Henrik I. Christensen,et al.  Custom soft robotic gripper sensor skins for haptic object visualization , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[6]  K. Hill,et al.  Fiber Bragg grating technology fundamentals and overview , 1997 .

[7]  Stephen A. Morin,et al.  Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction   , 2017 .

[8]  R. J. Black,et al.  Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions , 2010, IEEE/ASME Transactions on Mechatronics.

[9]  Panagiotis Polygerinos,et al.  Towards a Soft Robotic 3rd Arm for Activities of Daily Living , 2017 .

[10]  Stephen T. Kreger,et al.  Optical frequency domain reflectometry: principles and applications in fiber optic sensing , 2016, SPIE Commercial + Scientific Sensing and Imaging.

[11]  Daniela Rus,et al.  Design, kinematics, and control of a soft spatial fluidic elastomer manipulator , 2016, Int. J. Robotics Res..

[12]  Robert J. Wood,et al.  Wearable soft sensing suit for human gait measurement , 2014, Int. J. Robotics Res..

[13]  Panagiotis Polygerinos,et al.  Development of a soft-inflatable exosuit for knee rehabilitation , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[14]  Kaspar Althoefer,et al.  Macrobend optical sensing for pose measurement in soft robot arms , 2015 .

[15]  Kaare Brandt Petersen,et al.  The Matrix Cookbook , 2006 .

[16]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[17]  Robert J. Wood,et al.  Soft Robotic Grippers for Biological Sampling on Deep Reefs , 2016, Soft robotics.

[18]  Daniel M. Vogt,et al.  Embedded 3D Printing of Strain Sensors within Highly Stretchable Elastomers , 2014, Advanced materials.

[19]  Ian D. Walker,et al.  Real-time Dynamic Models for Soft Bending Actuators , 2018, 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[20]  Kevin O'Brien,et al.  Optoelectronically innervated soft prosthetic hand via stretchable optical waveguides , 2016, Science Robotics.

[21]  Filip Ilievski,et al.  Soft robotics for chemists. , 2011, Angewandte Chemie.

[22]  CianchettiMatteo,et al.  A Bioinspired Soft Robotic Gripper for Adaptable and Effective Grasping , 2015 .

[23]  B. Soller,et al.  High resolution optical frequency domain reflectometry for characterization of components and assemblies. , 2005, Optics express.

[24]  Daniel M. Vogt,et al.  Batch Fabrication of Customizable Silicone‐Textile Composite Capacitive Strain Sensors for Human Motion Tracking , 2017 .

[25]  Daniel M. Vogt,et al.  Capacitive Soft Strain Sensors via Multicore–Shell Fiber Printing , 2015, Advanced materials.

[26]  Robert J. Wood,et al.  Soft robotic glove for combined assistance and at-home rehabilitation , 2015, Robotics Auton. Syst..

[27]  Lingfeng Chen,et al.  Soft Robotics: Academic Insights and Perspectives Through Bibliometric Analysis , 2018, Soft robotics.

[28]  Paolo Dario,et al.  Soft Robot Arm Inspired by the Octopus , 2012, Adv. Robotics.

[29]  Xinwu Liang,et al.  Shape Detection Algorithm for Soft Manipulator Based on Fiber Bragg Gratings , 2016, IEEE/ASME Transactions on Mechatronics.

[30]  マーク， イー． フロガット，,et al.  Optical position and / or shape Sensing , 2010 .

[31]  L. Castano,et al.  Smart fabric sensors and e-textile technologies: a review , 2014 .

[32]  Ross A. Knepper,et al.  A Helping Hand: Soft Orthosis with Integrated Optical Strain Sensors and EMG Control , 2016, IEEE Robotics & Automation Magazine.

[33]  Kevin C. Galloway,et al.  Assisting hand function after spinal cord injury with a fabric-based soft robotic glove , 2018, Journal of NeuroEngineering and Rehabilitation.

[34]  Robert J. Wood,et al.  Soft Curvature and Contact Force Sensors for Deep-Sea Grasping via Soft Optical Waveguides , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).