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
  • All-fiber ellipsometer for nanoscale dielectric coatings
  • Jose Javier Imas, Ignacio R. Matías, Ignacio Del Villa, Aritz Ozcáriz, Carlos Ruiz Zamarreño, Jacques Albert
  • Opto-Electronic Advances
  • 2023-10-31
  • High-resolution visible imaging with piezoelectric deformable secondary mirror: experimental results at the 1.8-m adaptive telescope
  • Youming Guo, Kele Chen, Jiahui Zhou, Zhengdai Li, Wenyu Han, Xuejun Rao, Hua Bao, Jinsheng Yang, Xinlong Fan, Changhui Rao
  • Opto-Electronic Advances
  • 2023-10-18
  • Recent developments in deep-ultraviolet sterilization of human respiratory RNA viruses
  • Tingzhu Wu, Shouqiang Lai, Zhong Chen, Hao-Chung Kuo
  • Opto-Electronic Advances
  • 2023-09-27
  • Broadband and continuous wave pumped second-harmonic generation from microfiber coated with layered GaSe crystal
  • Zhen Hao, Biqiang Jiang, Yuxin Ma, Ruixuan Yi, Xuetao Gan, Jianlin Zhao
  • Opto-Electronic Advances
  • 2023-09-27
  • ITO-free silicon-integrated perovskite electrochemical cell for light-emission and light-detection
  • Maria Baeva, Dmitry Gets, Artem Polushkin, Aleksandr Vorobyov, Aleksandr Goltaev, Vladimir Neplokh, Alexey Mozharov, Dmitry V. Krasnikov, Albert G. Nasibulin, Ivan Mukhin ergey Makarov
  • Opto-Electronic Advances
  • 2023-09-27
  • Rapid inactivation of human respiratory RNA viruses by deep ultraviolet irradiation from light-emitting diodes on a high-temperature-annealed AlN/Sapphire template
  • Ke Jiang, Simeng Liang, Xiaojuan Sun, Jianwei Ben, Liang Qu, Shanli Zhang, Yang Chen, Yucheng Zheng, Ke Lan, Dabing Li, Ke Xu
  • Opto-Electronic Advances
  • 2023-09-27
  • Deep-ultraviolet photonics for the disinfection of SARS-CoV-2 and its variants (Delta and Omicron) in the cryogenic environment
  • Wenyu Kang, Jing Zheng, Jiaxin Huang, Lina Jiang, Qingna Wang, Zhinan Guo, Jun Yin, Xianming Deng, Ye Wang, Junyong Kang
  • Opto-Electronic Advances
  • 2023-09-27
  • In-fiber photoelectric device based on graphene-coated tilted fiber grating
  • Biqiang Jiang, Yueguo Hou, Jiexing Wu 吴洁星, Yuxin Ma, Xuetao Gan, Jianlin Zhao
  • Opto-Electronic Science
  • 2023-09-07
  • Solar cell-based hybrid energy harvesters towards sustainability
  • Tianxiao Xiao, Suo Tu, Suzhe Liang, Renjun Guo, Ting Tian, Peter Müller-Buschbaum
  • Opto-Electronic Science
  • 2023-09-07
  • Planar peristrophic multiplexing metasurfaces
  • Jia Chen, Dapeng Wang, Guangyuan Si, Siew Lang Teo, Qian Wang, Jiao Lin
  • Opto-Electronic Advances
  • 2023-08-31
  • Direct field-to-pattern monolithic design of holographic metasurface via residual encoder-decoder convolutional neural network
  • Ruichao Zhu, Jiafu Wang, Tianshuo Qiu, Dingkang Yang, Bo Feng, Zuntian Chu, Tonghao Liu, Yajuan Han, Hongya Chen, Shaobo Qu
  • Opto-Electronic Advances
  • 2023-08-31



  • A review of liquid crystal spatial light modulators: devices and applications                                Artificial intelligence-assisted chiral nanophotonic designs
    About
    |
    Contact
    |
    Copyright © PubCard