IEEE Robotics & Automation Magazine - June 2013 - 88

Time (min)

A

E

0

9.81

6.52

4.62

3.51

2.88

2.51

2.29

2.17

2.10

2.06

2.03

2.02

d

2.01

0

E=A

D

C

B

2.00

A

1.61

1.35

1.20

1.12

1.07

1.04

z

1.02

-400

1.01

1.00

-200

d

d

-600
-800
-1,000

C

B

-1,200
D

GNM (Pressure 10 g)
GNM (Pressure 100 g)

-1,400
-1,600
-1,800

Sensor Elastomeric
Reactivity: 0.6 s

Deformation d (nm)

Figure 11. Experimental elastomeric deformation measurements of a GNM sample. Inset: mechanical evolutions of the elastomeric
deformation type measurements according to the positions A-E reported in the plot.

considered. During the measurements of the prototype, we
use a controlled system of weights that does not move the

sensor during the experimental process and allows increasing of the pressure in steps applied by 5 g.
The real-time behavior is further
verified by measuring an elastomeric
reactivity response time of 0.6 s,
Pressure Sensing Area
(Tapered Fiber Region)
according to optical reactivity. The
Robot Hand
elastomeric sensor reactivity is performed by TA Instruments dynamiOptical Fiber
Laser
cal mechanical analyzer (DMA)
Diode Source
Q800 machine. The measurement of
elastomeric deformation, shown in
Optical
Fiber
Figure  11, provides information
1#4
about the GNM elastomeric reaction
Coupler/
Hand Movements
time by applying pressure forces of
or Fiber
(Mechanical Engine)
0.98 N (corresponding to about
Bundle
100  g) and 0.098  N (corresponding
to about 10  g). The elastomeric
Data
Data
deformation indicates slow deformaProcessing,
Output/Reading
Logic Network
tion of the used GNM measured
under constant stress: the GNM
sample (width = 4.77 mm, length =
Photodiode
14.96 mm, and t hickness =
Detectors
3.57 mm) deformation is monitored
as a function of time. The GNM
Figure 12. Functional diagram of the proposed sensor in a robotic system: a laser
source (or a broad lamp source) is connected to a coupler or fiber bundle that splits the
sample is then released to an
signalsinto different pressure sensors representing the robotic hand. Each sensor will
unstressed state and its sample
transmit the signals to photo diodes that will convert the optic signal into an electrical
deformation recovery is monitored.
one allowing signal processing and by properly designed electronic circuits.

88

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

june 2013



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

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