Dual-parameter demodulated torsion sensor based on the Lyot filter with a twisted polarization-maintaining fiber

We proposed a novel torsion sensor based on the Lyot filter with the twisted polarization-maintaining fiber (PMF) acting as the birefringence medium. Lyot filter is formed by two linear polarizers and a piece of PMF. Based on the high birefringence of the PMF, the output polarization rotates with a rate equal to the twisting rate applied on the PMF, and the sensor realizes a high sensitivity of 90.072 dB/rad. The proposed sensor also demonstrated a low strain sensitivity of 2.32 ×10 ^{- 6} rad/μɛ. On the other hand, based on the phase hits of the polarization interference, the wavelength sensitivity reaches 15.477 nm/rad. The monitoring range of the wavelength demodulation is complementary with the intensity demodulation in one cycle, making the valid sensing range of the proposed sensor expand. The proposed highly sensitive compact torsion sensor, with large sensing range and low crosstalk, has potential applications in many fields such as manufacturing industry, civil engineering, aerospace industry and modern smart structure monitoring.

Low-cost temperature- and strain-insensitive twist sensor based on a hybrid fiber grating structure

We proposed and experimentally demonstrated a temperature- and strain-insensitive twist sensor based on a hybrid fiber grating structure, in which the hybrid grating structure is constructed with a 45°-tilted fiber grating and a chirped fiber Bragg grating UV-inscribed in a single-mode fiber in series. The sensing performance has been evaluated by experimental and numerical analyses, which are in good consistency. The experimental results show that the hybrid-grating-structure-based twist sensor has a maximum twist sensitivity up to 15.037 dB/rad. Moreover, due to the invariability of the fiber birefringence and the state of polarization of the input light, such sensor has intrinsically low temperature and strain sensitivities of 7.86×10^-3  dB/°C and 6.7×10^-5  dB/με, corresponding to the maximum twist measurement error resulting from temperature and strain of 5.2×10^-4  rad/°C and 4.5×10^-6  rad/με, respectively.

Novel temperature-independent microfiber sensor fabricated with the tapering-twisting-tapering technique

In this paper, a novel twist and refractive index microfiber sensor fabricated with the tapering-twisting-tapering technique has been proposed and demonstrated, for the first time to the best of our knowledge. Experimental results show that the interference intensity of the microfiber increases with the increment of pre-tapered length and the intervening twist number. The sensitivity of the microfiber sensor with respect to twist is found to be 2.817 dB/(rad/m) and the refractive index sensitivity of this microfiber sensor can reach to ∼809  nm/refractive index unit in the refractive index ranging from 1.30 to 1.33. Moreover, considering that its temperature sensitivity is 0.005 dB/°C, it will not suffer from the cross sensitivity to temperature.

Singularity Avoidance Control of a Non-Holonomic Mobile Manipulator for Intuitive Hand Guidance

Mobile manipulators are robot systems capable of combining logistics and manipulation tasks. They thus fulfill an important prerequisite for the integration into flexible manufacturing systems. Another essential feature required for modern production facilities is a user-friendly and intuitive human-machine interaction. In this work the goal of code-less programming is addressed and an intuitive and safe approach to physically interact with such robot systems is derived. We present a natural approach for hand guiding a sensitive mobile manipulator in task space using a force torque sensor that is mount close to the end effector. The proposed control structure is capable of handling the kinematic redundancies of the system and avoid singular arm configurations by means of haptic feedback to the user. A detailed analysis of all possible singularities of the UR robot family is given and the functionality of the controller design is shown with laboratory experiments on our mobile manipulator.

Highly sensitive torsion sensor with femtosecond laser-induced low birefringence single-mode fiber based Sagnac interferometer

A highly sensitive optical fiber torsion sensor with femtosecond laser-induced low birefringence SMF-based Sagnac interferometer (SI) is proposed and experimentally demonstrated in this paper. A straight-line waveguide positioned horizontally with respect to the fiber core is inscribed by the femtosecond laser in the cladding of the SMF, which leads to the asymmetry stress distribution in the SMF, and then gives rise to the low birefringence in the SMF. Compared with most of the previous reported SI based torsion sensors, there is no splicing joint in the femtosecond laser-induced low birefringence SMF-based SI, which lowers the transmission loss and makes the SI based torsion sensor more robust simultaneously. The experiment result shows that the proposed torsion sensor exhibits a torsion sensitivity of up to 3.2562 nm/degree, with the high torsion resolution of 0.003 degree. In contrast, the temperature cross-sensitivity and strain cross-sensitivity of the proposed torsion sensor are low, to -0.000055 degree/°C and 0.000013 degree/με, respectively, thus overcoming the cross-sensitivity problem resulting from temperature and strain. Moreover, theoretical analysis are carried out to compare with the experimental results to demonstrate the feasibility and good consistency.

Experimental and theoretical study of the in- fiber twist sensor based on quasi-fan Solc structure filter

In this paper, a novel quasi-fan Solc structure filter based on elliptical-core spun fiber for twist sensing has been experimentally investigated and theoretically analyzed. The discrete model of spun fiber has been built to analyze the transmission characteristics of proposed sensor. Both experimental and simulated results indicate that the extinction ratio of the comb spectrum based on quasi-fan Solc birefringent fiber filter varies with twist angle and agrees well with each other. Based on the intensity modulation, the proposed twist sensor exhibits a high sensitivity of 0.02219 dB/(°/m). Moreover, thanks to the invariability of the fiber birefringence and the state of polarization of the input light, the proposed twist sensor has a very low temperature and strain sensitivity, which can avoid the cross-sensitivity problem existing in most twist sensors.

Towards Scalable Strain Gauge-Based Joint Torque Sensors

During recent decades, strain gauge-based joint torque sensors have been commonly used to provide high-fidelity torque measurements in robotics. Although measurement of joint torque/force is often required in engineering research and development, the gluing and wiring of strain gauges used as torque sensors pose difficulties during integration within the restricted space available in small joints. The problem is compounded by the need for a scalable geometric design to measure joint torque. In this communication, we describe a novel design of a strain gauge-based mono-axial torque sensor referred to as square-cut torque sensor (SCTS), the significant features of which are high degree of linearity, symmetry, and high scalability in terms of both size and measuring range. Most importantly, SCTS provides easy access for gluing and wiring of the strain gauges on sensor surface despite the limited available space. We demonstrated that the SCTS was better in terms of symmetry (clockwise and counterclockwise rotation) and more linear. These capabilities have been shown through finite element modeling (ANSYS) confirmed by observed data obtained by load testing experiments. The high performance of SCTS was confirmed by studies involving changes in size, material and/or wings width and thickness. Finally, we demonstrated that the SCTS can be successfully implementation inside the hip joints of miniaturized hydraulically actuated quadruped robot-MiniHyQ. This communication is based on work presented at the 18th International Conference on Climbing and Walking Robots (CLAWAR).

Intensity modulated torsion sensor based on optical fiber reflective Lyot filter

We proposed and experimentally demonstrated a highly sensitive optical fiber torsion sensor based on a reflective Lyot filter for the first time to our knowledge. The reflective Lyot filter is constructed by inserting a section of polarization-maintaining fiber (PMF) between a fiber linear polarizer and a 3dB coupler based fiber loop reflector. Based on the intensity modulation, the proposed torsion sensor exhibits a high torsion sensitivity of up to 20.336 dB/rad, one order of magnitude higher than the achieved in state-of-the-art. In contrast, the temperature cross-sensitivity and strain cross-sensitivity of the proposed torsion sensor are low to -2.0 × 10^-4 rad/°C and -6.39 × 10^-6 rad/με, respectively, thus overcoming the cross-sensitivity problem resulting from temperature and strain. Moreover, we perform the theoretical simulation of the proposed torsion sensor, and the simulation result obtained agrees well with the experiment results, vividly confirming the viability of the fiber Lyot filter based torsion sensor. Such fiber Lyot filter may find potential applications of highly sensitive torsion sensors in the field of modern smart structure monitoring.

A New Actuation Approach for Human Friendly Robot Design

In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.

Design of a Hollow Hexaform Torque Sensor for Robot Joints

This work describes the design of a new one-axis torque sensor. It achieves the conflicting requirements of high stiffness for all six force and torque components, high sensitivity for the one driving torque of interest, and yet very low sensitivity for the other five force/torque components. These properties, combined with its donut shape and small size, make this sensor an ideal choice for direct-drive robotic applications. Experimental data validate the basic design ideas underlying the sensor’s geometry, the finite element model used in its optimization, and the advertised performance.

Instrumentation and Algorithms for Posture Estimation in Compliant Framed Modular Mobile Robots

Posture sensing techniques for Compliant Framed Modular Mobile Robots (CFMMR) are presented in this paper using a new Relative Posture Sensor (RPS) combined with standard sensors in a tiered fusion algorithm. The RPS consists of a compliant frame member instrumented with strain gauges and associated algorithms such that the RPS can predict relative posture. The first tier of the fusion algorithm uses traditional Kalman filters and rigid axle kinematic models to predict the global posture of each axle. In the second tier, a Relative Measurement Stochastic Posture Error Correction (RMSPEC) algorithm is introduced to fuse disparate axle data using the RPS. Experimental results are derived from over 60 trials operating the robot on high traction carpet, low traction sand, and sand with rugged rocky terrain. Results comparing the proposed sensory system with standard sensory systems demonstrate that the proposed techniques yield accurate relative posture estimates and posture regulation even on rugged terrain, which is a vast improvement over previous results.

Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape

The torque sensor is used to measure the joint torque of a robot manipulator. Previous research showed that the sensitivity and the stiffness of torque sensors have trade-off characteristics. Stiffness has to be sacrificed to increase the sensitivity of the sensor. In this research, a new torque sensor with high sensitivity (TSHS) is proposed in order to resolve this problem. The key idea of the TSHS comes from its 4-bar linkage shape in which the angular displacement of a short link is larger than that of a long link. The sensitivity of the torque sensor with a 4-bar link shape is improved without decreasing stiffness. Optimization techniques are applied to maximize the sensitivity of the sensor. An actual TSHS is constructed to verify the validity of the proposed mechanism. Experimental results show that the sensitivity of TSHS can be increased 3.5 times without sacrificing stiffness.

Fiber torsion sensor based on a twist taper in polarization-maintaining fiber

A novel optical fiber torsion sensor head is proposed. A section of polarization-maintaining fiber (PMF) is spliced between single mode fiber (SMF), and a twist taper is fabricated by a commercial electric-arc fusion splicer in the middle of the PMF. The asymmetric characteristics are obtained by the twist taper so that a fiber torsion sensor with directional discrimination is fabricated. Due to the characteristics of the asymmetric structure, the torsion sensitivity for the twist rate from 0 rad/m to -8 rad/m reaches 2.392 nm/rad·m-1, and for the twist rate from 0 rad/m to 8 rad/m reaches 1.071 nm/rad·m-1 respectively.

Joint friction estimation for walking bipeds

This paper proposed a new approach for the joint friction estimation of non-slipping walking biped robots. The proposed approach is based on the combination of a measurement-based strategy and a model-based method. The former is used to estimate the joint friction online when the foot is in contact with the ground, while the latter adopts a friction model to represent the joint friction when the leg is swinging. The measurement-based strategy utilizes the measured ground reaction forces (GRF) and the readings of an inertial measurement unit (IMU) located at the robot body. Based on these measurements, the joint angular accelerations and the body attitude and velocity are estimated. The aforementioned measurements and estimates are used in a reduced dynamical model of the biped. However, when the leg is swinging, this strategy is inapplicable. Therefore, a friction model is adopted. Its parameters are identified adaptively using the estimated online friction whenever the foot is in contact. The estimated joint friction is used in the feedback torque control signal. The proposed approach is validated using the full-dynamics of 12-DOF biped model. By using this approach, the robot center of mass (CoM) position error is reduced by 10% which demonstrates the effectiveness of this approach.

Compliance Control and Human–Robot Interaction: Part 1 — Survey

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance control techniques are discussed. This paper provides a comprehensive literature survey of compliance control keeping in view physical human robot interaction (pHRI) e.g., passing an object, such as a cup, between a human and a robot. Compliance control may eventually provide an immediate and effective layer of safety by avoiding pushing, pulling or clamping in pHRI. Emerging areas such as soft robotics, which exploit the deformability of biomaterial as well as hybrid approaches which combine active and passive compliance are also highlighted.

Multi-phase-shifted helical long period fiber grating based temperature-insensitive optical twist sensor

A compact temperature-insensitive optical fiber twist sensor based on multi-phase-shifted helical long period fiber grating has been proposed and experimentally demonstrated in this paper. A multi-phase-shifted helical long period fiber grating is fabricated with a multi-period rotation technology. A π/2 and a 3π/2 phase shift is introduced in the helical long period fiber grating by changing the period. The helical pitch can be effectively changed with a different twist rate, which is measured by calculating the wavelength difference between two phase shift peaks. Although the wavelength of the phase shift peak also shifts with a change of the temperature, the wavelength difference between two phase shift peaks is constant due to two fixed phase shifts in the helical long period fiber grating, which is extremely insensitive to temperature change for the multi-phase-shifted helical long period fiber grating. The experimental results show that a sensitivity of up to 1.959 nm/(rad/m) is achieved.

Development of a one-body optical torque sensor for rehabilitation robotic systems

This paper proposes a one-body optical torque sensor. The proposed sensor has advantages of anti-slip and low cost due to the simple one-body structure. Simulations for stress and strains analysis are accurately performed. To demonstrate the performance of proposed design, experiments were also carried out to compare it with a commercial force/torque sensor (Mini45, ATI).

Differential-damper topologies for actuators in rehabilitation robotics

Differential-damper (DD) elements can provide a high bandwidth means for decoupling a high inertia, high friction, non-backdrivable actuator from its output and can enable high fidelity force control. In this paper, a port-based decomposition is used to analyze the energetic behavior of such actuators in various physical domains. The general concepts are then applied to a prototype DD actuator for illustration and discussion. It is shown that, within physical bounds, the output torque from a DD actuator can be controlled independently from the input speed. This concept holds the potential to be scaled up and integrated in a compact and lightweight package powerful enough for incorporation with a portable lower limb orthotic or prosthetic device.

DESIGN, CONTROL AND EVALUATION OF A WHOLE-SENSITIVE ROBOT ARM FOR PHYSICAL HUMAN-ROBOT INTERACTION

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with an unstructured environment. The detailed design procedure of the 4-DOF robot arm and optical torque sensors is described in the paper. The experimental results of joint admittance control revealed the feasibility of the proposed approach to provide safe interaction of entire structure of robot arm with a person. The control system with load angle position feedback and lead compensator is proposed to improve dynamic behavior of flexible joint arm. The experimental results show high performance of the developed controller in terms of successful damping of vibrations.

A Kinematic Approach to Determining the Optimal Actuator Sensor Architecture for Space Robots

Autonomous space robots will be required for such future missions as the construction of large space structures and repairing disabled satellites. These robots will need to be precisely controlled. However, factors such as manipulator joint/actuator friction and spacecraft attitude control thruster inaccuracies can substantially degrade control system performance. Sensor-based control algorithms can be used to mitigate the effects of actuator error, but sensors can add substantially to a space system’s weight, complexity, and cost, and reduce its reliability. Here, a method is presented to determine the sensor architecture that uses the minimum number of sensors that can simultaneously compensate for errors and disturbance in a space robot’s manipulator joint actuators, spacecraft thrusters, and reaction wheels. The placement and minimal number of sensors is determined by analytically structuring the system into “canonical chains” that consist of the manipulator links and spacecraft with force/torque sensors placed between the space robot’s spacecraft and its manipulators. These chains are combined to determine the number of sensors needed for the entire system. Examples of one- and two-manipulator space robots are studied and the results are validated by simulation.

Development of Four Kinds of Mobile Robot with Preliminary-Announcement and Indication Function of Upcoming Operation

We propose approaches and equipment for preliminarily announcing and indicating to people the speed and direction of movement of mobile robots moving on a two-dimensional plane. We introduce the four approaches categorized into (1) announcing the state just after the present and (2) indicating operations from the present to some future time continuously. To realize the approaches, we use omni-directional display (PMR-2), flat-panel display (PMR-6), laser pointer (PMR-1), and projection equipment (PMR-5) for the announcement unit of protobots. The four protobots were exhibited at the 2005 International Robot Exhibition (iREX05). We had visitors answer questionnaires in a 5-stage evaluation. The projector robot PMR-5 received the highest evaluation score among the four. An examination of differences by gender and age suggested that some people prefer simple information, friendly expressions, and a minimum of information to be presented at one time.

Environmental-Interaction Robotic Systems: Compliant Actuation Approach

Many successful designs of compliant actuators have been recently proposed. However, the challenge of providing passive and active motion in one actuator has remained. In this paper, a novel mechanism for changing the stiffness of the series elastic actuator over a wide range is presented. An accurate force source is provided by introducing the force control using velocity control of the DC motor. Performance and behaviour of the system and controller is investigated through simulation.

Optical Torque Sensors for Local Impedance Control Realization of an Anthropomorphic Robot Arm

We recently developed an optical torque sensor to replace expensive strain-gauge-based sensor on the anthropomorphic robot arm and realize local impedance control in individual joints.