1. Triaxial 3-D-Channeled Soft Optical Sensor for Tactile Robots
- Author
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Lo Preti, Matteo, Bernabei, Federico, Nardin, Anderson B., and Beccai, Lucia
- Abstract
Soft optical transducers have the potential to fulfill the need for advanced tactile sensing in robotics. We present a fingertip-shaped soft sensor with optically transparent channels that relies on soft materials and sensor morphology to measure an applied triaxial force. The proposed 3D-channeled sensor has a volume of 2.5 cm3, and the experimental results reveal a 15-fold increase in voltage compared to its bulk analogous, showcasing a sensitivity of 0.34 and 0.09 N/mV to tangential and normal forces. A prototype with a diameter of 2 mm (
$0.4\times $ ${F}_{\textit {xy}}$ ${F}_{z}$ ${R}^{{2}}$ - Published
- 2024
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