Development of a Distributed Force Detectable Artificial Skin Using Microbending Optical Fiber Sensors

摘要

This article describes a skin-like tactile sensor system that can detect a distributed force using microbending optical fiber sensors. In this design, optical fibers are used both as actual force elements and as signal-transmission media. The tactile array sensor is formed by appropriately arranging fibers into two overlapping layers, forming a 2D grid of fibers. When force is imparted to a given fiber taxel, small distortions (microbends) appear in the stressed fibers, resulting in decreases in the transmitted light intensity in these fibers. A prototype sensor of this type has been fabricated and tested. Comparison with a conventional tactile sensor reveals that the proposed tactile sensor provides outstanding performance and many advantages such as water resistive characteristics, high durability, and simple wiring.