title: Integration of fiber-optic sensor arrays into a multi-modal tactile sensor processing system for robotic end-effectors.
abstract: With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing one modality of forces in the robotic end-effector. The use of a multi-modal tactile sensory system is motivated, which combines static and dynamic force sensor arrays together with an absolute force measurement system. This publication is focused on the development of a compact sensor interface for a fiber-optic sensor array, as optic measurement principles tend to have a bulky interface. Mechanical, electrical and software approaches are combined to realize an integrated structure that provides decentralized data pre-processing of the tactile measurements. Local behaviors are implemented using this setup to show the effectiveness of this approach.
authors.affiliation: DFKI GmbH, Robotics Innovation Center (RIC), Robert-Hooke-Str. 1, Bremen D-28359, Germany. peter.kampmann@dfki.de.
authors.forename: Peter
authors.initials: P
authors.lastname: Kampmann
authors.affiliation: DFKI GmbH, Robotics Innovation Center (RIC), Robert-Hooke-Str. 1, Bremen D-28359, Germany. frank.kirchner@dfki.de.
authors.forename: Frank
authors.initials: F
authors.lastname: Kirchner
mesh_terms: D000465:Algorithms; D002138:Calibration; D004581:Electronics; D005246:Feedback; D005336:Fiber Optic Technology / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D019415:Torque; D014110:Touch