On the integration of FBG sensing technology into robotic grippers
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ORIGINAL ARTICLE
On the integration of FBG sensing technology into robotic grippers Paolo Tripicchio1
· Salvatore D’Avella1 · Carlo Alberto Avizzano1 · Fabrizio Di Pasquale1 · Philippe Velha1
Received: 22 August 2020 / Accepted: 22 September 2020 © Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract Modern industrial processes aim for the continuous production of small volumes tailored to the customer’s needs. Machines and robotic platforms have to be more and more adaptable, flexible, and able to cope with complex scenarios where sensing and manipulation capabilities are the key technology to succeed. The literature has plenty of capacitive, resistive, piezoelectric, and piezoresistive sensors used as tactile or force sensors. All of them present some drawbacks like non-linear behavior, sensitivity to temperature or electromagnetic noise, and hysteresis, among others. Other sensing systems are bulky and hard to integrate, sometimes jeopardizing the dexterity and manipulability of the gripper. In this context, the manuscript proposes fiber Bragg grating (FBG) optical fiber as a tactile sensing element to capture the interaction forces during material handling and object manipulation since it has numerous advantages compared with the other sensing devices. The work also offers a methodology to easily integrate the fiber in industrial grippers and introduces a set of tests useful to characterize the sensors. Custom gripper fingers have been realized in rapid prototyping to present a pictorial example of such an integration. Finally, the essay presents some experiments that assess the capability of a tactile sensor based on FBG optical fiber showing as it can correctly perceive the contact forces (NRMSE = 0.75%) and can recognize the material of the object that is being manipulated. The authors believe that the application of optical fiber sensor as tactile feedback can be useful in industrial scenarios to enable complex manipulation activities. Keywords Robotic manipulation · Additive manufacturing · Optical sensing · FBG · Two-finger gripper · Tactile sensing
1 Introduction Nowadays, robots are key resources in manufacturing processes. In principle, robotic grippers were employed in straightforward manufacturing tasks in which they grasped Paolo Tripicchio
[email protected] Salvatore D’Avella [email protected] Carlo Alberto Avizzano [email protected] Fabrizio Di Pasquale [email protected] Philippe Velha [email protected] 1
Department of Excellence in Robotics & AI, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
seamlessly the same item, like for car assembly. Now, in line with the concept of Industry 4.0, robotic grippers have to deal with a lower volume of more customized and variable products. This requirement necessitates robots with more adaptability, flexibility, and manipulation capabilities for handling complex objects involving unstructured fabrics, fragile materials, or different shapes. Autonomous
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