The perception mechanism and experiment research on robot fiber-optic array skin
Citation
宋金雪 (Song Jin-xue). (2016). 机器人光纤阵列皮肤感知机理及实验研究 (The perception mechanism and experiment research on robot fiber-optic array skin) [硕士学位论文] ([Master Degree Thesis]). 山东大学 ([Shandong University]).
Keywords
- 机器人 / Robot
- 人工皮肤 / Artificial skin
- 光纤阵列皮肤 / Fiber-optic array skin
- 光纤布拉格光栅 / Fiber Bragg Grating - FBG
- 感知机理 / Perception mechanism
- 实验研究 / Experiment research
- 人机协作安全 / Human-machine cooperative security
- 光纤 / Optical fiber
Brief
This Master's thesis by Song Jin-xue focuses on the perception mechanism and experimental research of robot artificial skin using a fiber-optic array, particularly exploring its potential for collision detection in human-robot cooperation through the application of Fiber Bragg Grating sensing technology.
Summary
This Master's thesis by 宋金雪 (Song Jin-xue) (2016) investigates the perception mechanism and experimental research of robot artificial skin utilizing a fiber-optic array, with a particular focus on addressing the collision problem in human-robot cooperative security. The research leverages the advantages of optical fibers, such as small size, light weight, high sensitivity, and anti-electromagnetic interference, for creating miniaturized and integrated artificial skin. The thesis explores the application of Fiber Bragg Grating (FBG) sensors in the robot artificial skin, examining their transverse and axial strain sensing principles. The work includes the design and simulation of microstructures for tactile sensing units using ANSYS, the fabrication and experimental testing of a 3x3 array sensor, the development of signal demodulation techniques, and the application of the developed fiber optic array sensing unit in a silicone glove to test its feasibility for grasp force detection. The research ultimately aims to validate the feasibility of using fiber optic array sensing for robot artificial skin to enhance safety in human-robot interaction.
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