A Robotic Skin Using Low-density FBGs for Human-robot Interaction

Xiyue Dong, Chin-Kiu Lam, Wei Chen, Bohan Yang, Yun-Hui Liu
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2024
Paper · DOI
A Robotic Skin Using Low-density FBGs for Human-robot Interaction
Low-density FBG-based robotic skin for force and shape sensing in human–robot interaction.

Abstract

This paper presents a robotic skin system based on low-density fiber Bragg gratings (FBGs) for human–robot interaction. By strategically deploying a sparse array of FBG sensors, the proposed skin accurately perceives contact force and surface deformation while significantly reducing sensor density and system complexity. Experimental results demonstrate reliable force sensing and shape estimation, enabling safe and responsive interaction in soft robotic and collaborative systems.

Main Contributions

Citation

@INPROCEEDINGS{10907681,
  author    = {Dong, Xiyue and Lam, Chin-Kiu and Chen, Wei and
               Yang, Bohan and Liu, Yun-Hui},
  title     = {A Robotic Skin Using Low-density FBGs for Human-robot Interaction},
  booktitle = {2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  pages     = {129--134},
  year      = {2024},
  doi       = {10.1109/ROBIO64047.2024.10907681}
}