IEEE Robotics & Automation Magazine - June 2013 - 87

3

2

1
28,000

1
2

27,000

3

26,000

Zoom
24,000

27,000
Intensity (a.u.)

23,000

22,000

26,000

1,100

11
0
11
5
1,

10
5

1,

1,

5
10
0
1,

09

0

1,150

1,

09

1,

0
08
1,050

1,

1,
1,000

5

25,000

21,000

08

Intensity (a.u.)

25,000

m (nm)

1,200

1,250

1,300

1,350

Figure 9. Real-time characterization of the pressure sensor by means of the transmittivity spectrum: Plot 1 represents the initial step
(no forces are applied), plot 2 indicates the variation of the transmittivity response due to the applied weight of 118 g, and plot 3 is
the transmittivity response immediately after the removing of the weight. Inset below: zoomed image of a part of a spectrum. The
plots refer to a sensor able to detect high pressure forces.

27,800
27,600
27,400
27,200
27,000
26,800
26,600
26,400
26,200

that the proposed sensor has the sensitivity to distinguish
the pressure applied by a weight of only 5 g. For each plot of
Figure 10, the average value of five measurements is

Zoom

28,000
Intensity (a.u.)

Intensity (a.u.)

The totally embedded configuration of the tapered fiber
[Figure 2(c)] provides the best sensor sensitivity, compared
to all the others we have tested. In fact, Figure 10 proves

P
1,298

1,300

1,302
m(nm)

27,000
26,000

Applied
Tapered Weights P
Fiber

25,000
24,000

1,304

1,306
Tapered Fiber
P2 = P1 + 5 g
P4 = P3 + 5 g

1,150

1,200

1,200
m(nm)

1,300

1,350

P1 = 14 g
P3 = P2 + 5 g
P5 = P4 + 5 g

Figure 10. Experimental results of a part of the transmitted spectrum of the optimized device. Inset above: zoomed image of a
spectrum region representing the optical losses following the applied pressures. Insets below: geometrical configurations illustrating
the mechanical/optical effect of the applied weights.

june 2013

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

87



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2013

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