Year
Month
(Peer-Reviewed) Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation
Jing Pan 潘婧 ¹, Qi Wang 王琪 ¹, Shuaikang Gao 高帅康 ¹, Zhang Zhang 张璋 ¹, Yu Xie 谢宇 ¹, Longteng Yu 余龙腾 ¹, Lei Zhang 张磊 ¹ ²
¹ Research Center for Humanoid Sensing, Zhejiang Lab, Hangzhou 311100, China
中国 杭州 之江实验室 类人感知研究中心
² State Key Laboratory of Modern Optical Instrumentation, College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, China
中国 杭州 浙江大学 现代光学仪器国家重点实验室
Opto-Electronic Advances, 2023-10-31
Abstract

Friction plays a critical role in dexterous robotic manipulation. However, realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces. Inspired by the topological mechanics of knots, we construct optical fiber knot (OFN) sensors for slip detection and friction measurement.

By introducing localized self-contacts along the fiber, the knot structure enables anisotropic responses to normal and frictional forces. By employing OFNs and a change point detection algorithm, we demonstrate adaptive robotic grasping of slipping cups. We further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five OFNs.

Such a tactile finger allows a robotic hand to manipulate human tools dexterously. This work could provide a straightforward and cost-effective strategy for promoting adaptive grasping, dexterous manipulation, and human-robot interaction with tactile sensing.
Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation_1
Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation_2
Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation_3
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