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Advancements in the field of collaborative robotics have led to a closer cooperation between humans and machines. Sharing the same environment, safety and adaptive control becomes of paramount importance in human-robot interaction. Thus, tactile feedback technologies are crucial to perceive contacts. This work presents the design and development of a polymeric artificial skin, mimicking the human sense of touch in perceiving and localizing pressure over a large area, and its integration on a custom human-like robotic forearm. The sensing system consisted of a curved soft matrix embedding an optical fiber equipped with 16 distributed Fiber Bragg Gratings (FBGs). To estimate the sensitivity of the tactile sensor array, a preliminary mechanical characterization was performed by means of force-controlled indentations. Results show a high correlation between the applied load and the corresponding output of the sensors. In particular, the median value of the sensitivity resulted in 0.26 nm·N-1, with 0.08 nm·N-1 interquartile range. These promising results call for further investigation on spatial sensitivity and force range, contact localization and calibration of the presented artificial skin.

Design and Development of Large-Area FBG-Based Sensing Skin for Collaborative Robotics / D'Abbraccio, J.; Aliperta, A.; Oddo, C. M.; Zaltieri, M.; Palermo, E.; Massari, L.; Terruso, G.; Sinibaldi, E.; Kowalczyk, M.; Schena, E.. - (2019), pp. 410-413. ((Intervento presentato al convegno 2nd IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2019 tenutosi a ita.

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