Abstract
In this paper, the effects of sealing materials on the performance of an optoelectronic Force/Torque (F/T) sensor designed for underwater robotic applications are investigated. The design of the sensor has been conceived to exhibit a considerable compliance if compared to commercial F/T sensors, such as the ones for industrial applications. Moreover, optoelectronic components have been used as sensible elements for the sensor development, allowing a relatively simple and quite reliable implementation. In particular, these properties are introduced to deal with uncertain environments and to ease the sensor integration in complex robotic systems, such as in the fingers of robotic a gripper for underwater applications.
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