IEEE ICRA'07 Digest

1
Force Sensing Robot Fingers using Embedded Fiber
Bragg Grating Sensors and Shape Deposition
Manufacturing
Yong-Lae Park1, Kelvin Chau2, Richard J. Black2,
and Mark R. Cutkosky1 1Center for Design
Research, Stanford University, USA 2Intelligent
Fiber Optic Systems Corporation, USA

• Force sensing is an essential requirement for
  dexterous robot manipulation.
• Exoskeletal force sensing robot fingers were
  developed using a new rapid-prototyping process.
• For sensing, EMI-immune, light-weight,
  multiplexable FBG sensors were embedded in a
  polymer structure.
• The sensorized robot finger was characterized
  using an FBG interrogator.