Abstract
The perception capability of soft humanoid hand is very important to the implementation of friendly interactive and dexterous operation. The flexible optical bending sensor which is easy to be embedded into the soft finger is comprised of light emitting diode (LED), optical fiber and photo-sensitive sensor. The roughened optical fibers can generate light overflow. And the bend degree of soft fingers can be obtained by detecting the loss of light energy. The abilities of continuous movement detection, action gestures and object size recognition are implemented according to the following operations: ① calibrating the initial (unbent) and maximum bending statuses of soft fingers with normalization method; ② segmenting the normalized data by uniform, nonuniform and hysteresis segment method; ③ merging together the information of five fingers. The experiment results show that the proposed optical fiber bending sensor is able to detect the continuous sinusoidal movement status, correctly recognize various gestures and grasping postures and the object size. Combining hysteresis subsection method, the shortcoming of single point subsection oscillating near subsection point is overcome, and the recognition rate is improved. This optical flexible bending sensor has the advantages of electromagnetic immunity and easy to be embedded. It has important application value in soft robotic hand or soft actuator.
Published Version
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