Optical fiber sensor with a bi-cavity ring-down differential technology for robot-finger distributed systems

Abstract

Contemporary intelligent robots typically necessitate the implementation of a distributed sensing network system within their digits to execute a range of intricate tasks collaboratively. In this investigation, we have introduced a novel fiber sensor founded on an enhanced fiber-loop ring-down spectral technology. This sensor employs double differential ring-down cavities to mitigate prevalent sources of interference, such as temperature and humidity. Consequently, it exhibits a robust linear response with remarkable sensitivity, quantified at 105.2 ns/N for force measurement and 53.2 ns/mm for displacement measurement, as validated by experimental outcomes. Furthermore, the sensor boasts a compact and diminutive sensing structure that can be effortlessly integrated into the robotic finger casing. Of utmost significance, it facilitates a cost-effective time-division multiplexing system for distributed measurements. Considering these distinctive advantages, this sensor lends itself to the establishment of a practical robot-finger distributed network system, characterized by superior performance attributes, encompassing high precision (up to 19 μm for contact detection and 0.0095 N for grasping and other manipulations), relatively modest expenses, and versatile applicability across a broad spectrum of scenarios, in stark contrast to the presently prevalent systems. In light of these noteworthy merits, the developed sensor exhibits tremendous potential for integration into robotics applications.