フィンガベースに配置した光導波路センサによるソフトロボットフィンガの先端位置の推定

抄録

Various types of flexible sensors have been devised and they have been applied to sensing for soft fingers. Generally, sensors are mounted along the length of soft fingers and occupy large space inside them. This is a potential barrier to adding sensors and functions to soft fingers. In this study, a cross-shaped optical waveguide sensor was mounted on the base of a pneumatically driven soft finger. The position of the finger tip in a camera frame was estimated by using time series data of the sensor signals when the finger was periodically driven. Using LSTM, its x-coordinate could be estimated with an error of 0.38 mm and its y-coordinate with an error of 0.48 mm.