A Full-Optical Pretouch Dual-Modal and Dual-Mechanism (PDM2) Sensor for Robotic Grasping
Fang, Cheng Yan, Zhiyu Guo, Fengzhi Li, Shuangliang Song, Dezhen Zou, Jun
Fang, Cheng
Yan, Zhiyu
Guo, Fengzhi
Li, Shuangliang
Song, Dezhen
Zou, Jun
Supervisor
Department
Robotics
Embargo End Date
Type
Conference proceeding
Date
2025
License
Language
English
Collections
Research Projects
Organizational Units
Journal Issue
Abstract
We report a new full-optical pretouch dual-modal and dual-mechanism (PDM2) sensor based on an air-coupled fiber-tip surface micromachined optical ultrasound transducer (SMOUT). Compared to ring-shaped piezoelectric acoustic receivers in previous PDM2 sensors, the acoustic signal received by the new fiber-tip SMOUT is readout optically, which is naturally resistant to surrounding electromagnetic interference (EMI) and makes the complex grounding and shielding unnecessary. In addition, the new fiber-tip SMOUT receiver has a much smaller size, which makes it possible to further miniaturize the sensor package into a more compact structure. For verification, a prototype of the full-optical PDM2 sensor has been designed, fabricated, and characterized. The experimental results show that even with the much smaller acoustic receiver, the new sensor can still achieve ranging and material/structure sensing performances comparable with the previous ones. Therefore, the new full optical PDM2 sensor design is promising in providing a practical and miniaturized solution for ranging and material/structure sensing to assist robotic grasping of unknown objects.
Citation
C. Fang, Z. Yan, F. Guo, S. Li, D. Song and J. Zou, "A Full-Optical Pretouch Dual-Modal and Dual-Mechanism (PDM2) Sensor for Robotic Grasping," 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 8695-8701, doi: 10.1109/ICRA55743.2025.11127586.
Source
International Conference on Robotics and Automation (ICRA)
Conference
2025 IEEE International Conference on Robotics and Automation (ICRA)
Keywords
Optical Fibers, Integrated Optics, Optical Fiber Sensors, Ultrasonic Imaging, Optical Device Fabrication, Electromagnetic Interference, Robot Sensing Systems, Optical Receivers, Acoustics, Distance Measurement
Subjects
Source
2025 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
IEEE