Three-dimensional surface shape reconstruction of fiber bragg gratings in a ring arrangement
To improve the accuracy of palm surface reconstruction in flexible robot grasp sensing,we con-duct a COMSOL simulation to select a ring arrangement comprising of 7 fiber Bragg grating(FBG)flexible sensors packaged with polydimethylsiloxane(PDMS)on a 436 mm×436 mm×2 mm polypropylene plate.As-suming that the center and two corner ends of the plate were subjected to stress,respectively,we collected sensor data using a fiber grating demodulation instrument during the experiment.The data was continuously interpolated using cubic spline interpolation.Several planes Y intersected with the fitting ring which created a three-dimensional surface.We calculated the point function to obtain the point set and achieve a fitting visu-al display of the spatial surface.When the center of the end of the surface is under stress,the plate experi-enced a minimum relative error of 0.549%in end displacement,with a maximum relative error of 8.300%,the minimum absolute error of 0.051 cm,and a maximum absolute error of 1.255 cm.When both corners at the end of the plate are under stress,for the end displacement of the plate reconstruction,the minimum relat-ive error is 2.546%,and a maximum relative error is 14.289%,the minimum absolute error is 0.005 cm,and the maximum absolute error is 0.729 cm.These experimental results provide a foundation to implement palm grip sensing in flexible robots.
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