Pixel-based optical fiber tactile force sensor for robot manipulation

This paper investigates novel tactile sensing concepts of a fiber optic sensor that can be integrated with minimally invasive surgical (MIS) manipulation tools whilst being Magnetic Resonance (MR) compatible. A 3×3 tactile optical fiber sensor was developed, and is able to measure applied normal forces. Forces are converted from the deflections of a set of nine flexures that are connected to a system of mirrors which, in turn, reflect light received from transmitting fibers to detection fibers. The changes in light intensity are ultimately read-out by a camera system. The images received by the camera attached at the end of the detection fibers are then processed on a computer system using Matlab. Employing a calibration process, the applied forces can be related to the number of activated pixels per received fiber image. This system enables an array of tactile flexures to be recorded via a single camera.