| Citation: | WANG Yan, XU Haoyu, WANG Jun-liang, ZHU Wei, JIANG Chao. Three-dimensional surface shape reconstruction of fiber bragg gratings in a ring arrangement[J]. Chinese Optics. doi: 10.37188/CO.2023-0088
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To improve the accuracy of palm surface reconstruction in flexible robot grasp sensing, this study conducts 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. Assuming 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 visual display of the spatial surface. The plate experienced a minimum relative error of 0.549% in end displacement, with a maximum relative error of 8.300%. the center of the surface’s end yielded a 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, a minimum relative error of 2.546%, and a maximum relative error of 14.289% arise in plate reconstruction end displacement. 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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