基于光纤Bragg光栅的机器人力/力矩触觉传感技术研究进展
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摘要
力觉传感器是机器人最重要的外部传感器之一。随着特种机器人的兴起,研发能适应特殊环境(如微创手术、核磁共振手术、救灾救援、核电站、消防等)的新型力传感器显得尤为重要。光纤Bragg光栅(FBG)是一种新型无源光器件,以光为传感信号,具有无电检测、不受电磁干扰、无零漂、精度高、耐高温、单根光纤可串接多个光栅等优势。自2001年国外学者首次将FBG用于机器人多维力传感技术后,基于FBG的力/力矩触觉传感技术逐渐得到广泛研究和应用。基于此,综述了目前国内外基于光纤Bragg光栅原理的多维力/力矩传感技术、力触觉传感技术设计及应用的研究现状,展望了其发展趋势。
Force and torque sensor is one of the most important external sensors for robots.With the development of special robots,it is becoming more and more important to research and develop a new type of force sensors that could be applied to special environment,such as minimally invasive surgery,nuclear magnetic resonance surgery,rescue and relief,nuclear power station,fire fighting,etc.As a special type of optical passive component,the fiber Bragg grating(FBG),taking light as sensing signal,is of prominent advantages,such as non-electric detection,immunity to electromagnetic noise,no zero drift,high precision,high temperature resistance,and the fact that multiple FBGs can be arrayed along a single fiber.Since FBGs was first used in robot multi-component force sensors in 2001,FBG based force/torque tactile sensing technology has been researched and applied widely.We describes the state of the art in multi-component force/torque sensing and tactile sensing technologies based on FBG,and presents the future work.
Force and torque sensor is one of the most important external sensors for robots.With the development of special robots,it is becoming more and more important to research and develop a new type of force sensors that could be applied to special environment,such as minimally invasive surgery,nuclear magnetic resonance surgery,rescue and relief,nuclear power station,fire fighting,etc.As a special type of optical passive component,the fiber Bragg grating(FBG),taking light as sensing signal,is of prominent advantages,such as non-electric detection,immunity to electromagnetic noise,no zero drift,high precision,high temperature resistance,and the fact that multiple FBGs can be arrayed along a single fiber.Since FBGs was first used in robot multi-component force sensors in 2001,FBG based force/torque tactile sensing technology has been researched and applied widely.We describes the state of the art in multi-component force/torque sensing and tactile sensing technologies based on FBG,and presents the future work.
引文
1 Ge Yunjian,Zhang Jianjun,Ge Yu,et al..Ubiquitous sensing and robot perception[J].Acta Automatica Sinica,2002,28(s1):125-133.葛运建,张建军,戈瑜,等.无所不在的传感与机器人感知[J].自动化学报,2002,28(增刊):125-133.
2 Ge Yu,Wu Zhongcheng,Ge Yunjian.State of arts and development trends toward application-oriented force/torque sensors[J].Robot,2003,25(2):188-192.戈瑜,吴仲城,葛运建.面向应用需求的力/力矩传感器技术发展动向[J].机器人,2003,25(2):188-192.
3 Liu Jinguo,Wang Yuechao,Li Bin,et al..Current research,key performances and future development of search and rescue robot[J].Chinese Journal of Mechanical Engineering,2006,42(12):1-12.刘金国,王越超,李斌,等.灾难救援机器人现状、关键性能及展望[J].机械工程学报,2006,42(12):1-12.
4 Tan Min,Wang Shuo.Research progress on robotics[J].Acta Automatica Sinica,2013,39(7):963-972.谭民,王硕.机器人技术研究进展[J].自动化学报,2013,39(7):963-972.
5 Song Guoli,Han Jianda,Zhao Yiwen.Review of orthopedic surgical robot and navigation technology[J].Chinese Science Bulletin,2013,58(s2):8-19.宋国立,韩建达,赵忆文.骨科手术机器人及其导航技术[J].科学通报,2013,58(增刊Ⅱ):8-19.
6 Zhao Xingang,Yang Tangwen,Han Jianda,et al..A review on the robot-assisted needle puncture technology[J].Chinese Science Bulletin,2013,58(s2):20-27.赵新刚,杨唐文,韩建达,等.机器人辅助针穿刺技术[J].科学通报,2013,58(增刊Ⅱ):20-27.
7 Guo Song,Yang Mingjie,Tan Jun.A big challenge of surgical robot---haptic feedback[J].Chinese Journal of Biomedical Engineering,2014,32(4):499-503.郭松,杨明杰,谭军.手术机器人面临的一大挑战---力触觉反馈[J].中国生物医学工程学报,2014,32(4):499-503.
8 Jiang Junfeng,He Pan,Liu Tiegen,et al..Research of temperature-stable fiber Bragg grating sensing demodulation based on composite wavelength references[J].Acta Optica Sinica,2015,35(10):1006005.江俊峰,何盼,刘铁根,等.基于复合波长参考的温度稳定光纤光栅传感解调研究[J].光学学报,2015,35(10):1006005.
9 Liu Feng,Ma Wenlong,Guo Xuan.Study onradial pressure sensing characteristics of EVA sensitivity enhanced fiber grating[J].Acta Optica Sinica,2015,35(10):1006001.刘丰,马文龙,郭璇.EVA增敏的光纤光栅径向压力传感特性研究[J].光学学报,2015,35(10):1006001.
10 Chen Haiyun,Gu Zhengtian,Gao Kan.Multi-parameter photochemical sensing technology of long-period fiber grating and wavelength division multiplexing[J].Chinese J Lasers,2014,41(2):0205003.陈海云,顾铮,高侃.基于波分复用的长周期光纤光栅光化学多参量传感技术研究[J].中国激光,2014,41(2):0205003.
11 Abushagur A A G,Arsad N,Reaz M I,et al..Advances in bio-tactile sensors for minimally invasive surgery using the fibre Bragg grating force sensor technique:Asurvey[J].Sensors,2014,14(4):6633-6665.
12 Taffoni F,Formica D,Saccomandi P,et al..Optical fiber-based MR-compatible sensors for medical applications:An overview[J].Sensors,2013,13(10):14105-14120.
13 Hill K O,Fujii Y,Johnson D C,et al..Photosensitivity in optical fiber waveguides:Application to reflection filter fabrication[J].Applied Physics Letters,1978,32(10):647-649.
14 Kawasaki B S,Hill K O,Johnson D C,et al..Narrow-band Bragg reflectors in optical fibers[J].Optics Letters,1978,3(2):66-68.
15 Morey W W,Meltz G,Glenn W H.Fiber optic Bragg grating sensors[C].SPIE,1989,169:98-107.
16 Xiong L,Zhang D S,Li L T,et al..EFPI-FBG hybrid sensor for simultaneous measurement of high temperature and large strain[J].Chinese Optics Letters,2014,12(12):120605.
17 Li Chuan,Zhang Yimo,Zhao Yonggui,et al..Fiber grating:Principles,techniques,and sensing applications[M].Beijing:Science Press,2005.李川,张以谟,赵永贵,等.光纤光栅:原理、技术与传感应用[M].北京:科学出版社,2005.
18 Kersey A D,Davis M A,Patrick H J,et al..Fiber grating sensors[J].Journal of Lightwave Technology,1997,15(8):1442-1463.
19 Fernandez A,Berghmans F,Brichard B,et al..Multi-component force sensor based on multiplexedbre Bragg grating strain sensors[J].Measurement Science and Technology,2001,12:810-813.
20 Park Y L,Ryu,Black R J,et al..Fingertip force control with embedded fiber Bragg grating sensors[C].2008IEEEInternational Conference on Robotics and Automation,2008:3431-3436.
21 Park Y L,Ryu S C,Black R J,etal..Exoskeletal force-sensing end-effectors with embedded optical fiber-Bragg-grating sensors[J].IEEE Transactions on Robotics,2009,25(6):1319-1331.
22 Mueller M S,Hoffmann L,Buck T S,etal..Realization of a fiber-optic force-torque sensor with six degrees of freedom[C].SPIE,2008,7266:72660S.
23 Mueller M S,Hoffmann L,Buck T S,etal..Fiber Bragg grating-based force-torque sensor with six degrees of freedom[J].International Journal of Optomechatronics,2009,3(3):201-214.
24 Jiang Qi,Gao Fangfang,Li Yibin,et al..Design and research of wrist force sensor based on FBG[C].IEEEInternational Conference on Information and Automation,2013:390-395.
25 Gao Fangfang.Research ofmulti-dimensional force sensing technology based on fiber Bragg grating[D].Jinan:Shandong University,2014.高芳芳.基于光纤光栅的多维力传感技术研究[D].济南:山东大学,2014.
26 Jiang Qi,Song Jinxue,Gao Fangfang,et al..Research of robot multidimensional force sensing technology based on fiber Bragg grating[J].Journal of Optoelectronics獉Laser,2014,25(11):2123-2129.蒋奇,宋金雪,高芳芳,等.基于光纤光栅的机器人多维力传感技术研究[J].光电子爛激光,2014,25(11):2123-2129.
27 Fu Yili,Li Kun,Pan Bo,et al..A survey of force sensing and force feedback technology for robot-assisted minimally invasive surgical system[J].Robot,2014,36(1):117-128.付宜利,李坤,潘博,等.微创手术机器人力检测与力反馈技术研究现状[J].机器人,2014,36(1):117-128.
28 Song H,Kim H,Jeong J,et al..Development of FBG sensor system for force-feedback in minimally invasive robotic surgery[C].2011IEEE Fifth International Conference on Sensing Technology,2011:16-20.
29 Song H,Kim K,Lee J.Development of optical fiber Bragg grating force-reflection sensor system of medical application for safe minimally invasive robotic surgery[J].Review of Scientific Instruments,2011,82(7):074301.
30 Haslinger R,Leyendecker P,Seibold U.A fiberoptic force-torque-sensor for minimally invasive robotic surgery[C].IEEE International Conference on Robotics and Automation,2013:4390-4395.
31 He X,Balicki M A,Kang J U,et al..Force sensing micro-forceps with integrated fiber Bragg grating for vitreoretinal surgery[C].SPIE,2012,8218:82180W.
32 Gonenc B,Handa J,Gehlbach P,et al..Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery[C].35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC),2013:5686-5689.
33 He X,Handa J,Gehlbach P,et al..A submillimetric 3-DOF force sensing instrument with integrated fiber Bragg grating for retinal microsurgery[J].IEEE Transactions on Biomedical Engineering,2014,61(2):522-534.
34 Gijbels A,Reynaerts D,Stalmans P,et al..Design and manufacturing of a 2-DOF force sensing needle for retinal surgery[C].4th Joint Workshop on New Technology for Computer/Robot Assisted Surgery,2014:12-15.
35 Park Y L,Elayaperumal S,Daniel B,et al..Real-time estimation of 3-D needle shape and deflection for MRI-guided interventions[J].IEEE/ASME Transactions on Mechatronics,2010,15(6):906-915.
36 Elayaperumal S,Bae J H,Christensen D,etal..MR-compatible biopsy needle with enhanced tip force sensing[C].IEEEWorld Haptics Conference(WHC),2013:109-114.
37 Yang Y J,Cheng M Y,Shih S C,et al..A 32×32temperature and tactile sensing array using PI-copper films[J].The International Journal of Advanced Manufacturing Technology,2010,46(9-12):945-956.
38 Heo J S,Lee J J.Development of flexible force sensors using fiber Bragg grating for tactile sensing and its evaluation[C].SPIE,2005,5852:372-378.
39 Heo J S,Chung J H,Lee J J.Application of optical fiber sensor for the tactile sensor system[C].1st International Conference on Sensing Technology,2005:32-37.
40 Heo J S,Lee J J.Temperaturesensor array for tactile sensation using FBG sensors[C].5th IEEE Conference on Sensors,2006:1464-1467.
41 Heo J S,Chung J H,Lee J J.Tactile sensor arrays using fiber Bragg grating sensors[J].Sensors and Actuators A:Physical,2006,126(2):312-327.
42 Heo J S,Han C H,Lee J J.System design and evaluation of the robot tactile sensor using the microbending fiber optic sensors[C].The 16th IEEE International Conference on Robot and Human interactive Communication,2007:14-18.
43 Heo J S,Kim J Y,Lee J J.Tactile sensors using the distributed optical fiber sensors[C].3rd International Conference on Sensing Technology,2008:486-490.
44 Cowie B,Allsop T,Williams J,et al..An optical fiber Bragg grating tactile sensor[C].SPIE,2007,6585:65850I.
45 Cowie B M,Webb D J,Tam B,et al..Fiber Bragg grating sensors for distributive tactile sensing[J].Measurement Science and Technology,2007,18(1):138.
46 Saccomandi P,Caponero M A,Polimadei A,et al..An MR-compatible force sensor based on FBG technology for biomedical application[C].36th Annual International Conference of the Engineering in Medicine and Biology Society(EMBC),2014:5731-5734.
47 Saccomandi P,Oddo C M,Zollo L,et al..Feedforward neural network for force coding of an MRI-compatible tactile sensor array based on fiber Bragg grating[J].Journal of Sensors,2015,2015:1-9.
48 Song Jinxue,Jiang Qi,Huang Yuanyang,et al..Research on pressure tactile sensing technology based on fiber Bragg grating array[J].Photonic Sensors,2015,5(3):263-272.
49 Yang Tangwen,Chen Panfei,Hang Jianda,et al..Wavelet transform analysis of optic fiber force sensing signals at puncture needle tip[J].Optics and Precision Engineering,2015,23(8):2149-2157.杨唐文,陈盼飞,韩建达,等.穿刺针尖光纤力传感信号的小波变换分析[J].光学精密工程,2015,23(8):2149-2157.
2 Ge Yu,Wu Zhongcheng,Ge Yunjian.State of arts and development trends toward application-oriented force/torque sensors[J].Robot,2003,25(2):188-192.戈瑜,吴仲城,葛运建.面向应用需求的力/力矩传感器技术发展动向[J].机器人,2003,25(2):188-192.
3 Liu Jinguo,Wang Yuechao,Li Bin,et al..Current research,key performances and future development of search and rescue robot[J].Chinese Journal of Mechanical Engineering,2006,42(12):1-12.刘金国,王越超,李斌,等.灾难救援机器人现状、关键性能及展望[J].机械工程学报,2006,42(12):1-12.
4 Tan Min,Wang Shuo.Research progress on robotics[J].Acta Automatica Sinica,2013,39(7):963-972.谭民,王硕.机器人技术研究进展[J].自动化学报,2013,39(7):963-972.
5 Song Guoli,Han Jianda,Zhao Yiwen.Review of orthopedic surgical robot and navigation technology[J].Chinese Science Bulletin,2013,58(s2):8-19.宋国立,韩建达,赵忆文.骨科手术机器人及其导航技术[J].科学通报,2013,58(增刊Ⅱ):8-19.
6 Zhao Xingang,Yang Tangwen,Han Jianda,et al..A review on the robot-assisted needle puncture technology[J].Chinese Science Bulletin,2013,58(s2):20-27.赵新刚,杨唐文,韩建达,等.机器人辅助针穿刺技术[J].科学通报,2013,58(增刊Ⅱ):20-27.
7 Guo Song,Yang Mingjie,Tan Jun.A big challenge of surgical robot---haptic feedback[J].Chinese Journal of Biomedical Engineering,2014,32(4):499-503.郭松,杨明杰,谭军.手术机器人面临的一大挑战---力触觉反馈[J].中国生物医学工程学报,2014,32(4):499-503.
8 Jiang Junfeng,He Pan,Liu Tiegen,et al..Research of temperature-stable fiber Bragg grating sensing demodulation based on composite wavelength references[J].Acta Optica Sinica,2015,35(10):1006005.江俊峰,何盼,刘铁根,等.基于复合波长参考的温度稳定光纤光栅传感解调研究[J].光学学报,2015,35(10):1006005.
9 Liu Feng,Ma Wenlong,Guo Xuan.Study onradial pressure sensing characteristics of EVA sensitivity enhanced fiber grating[J].Acta Optica Sinica,2015,35(10):1006001.刘丰,马文龙,郭璇.EVA增敏的光纤光栅径向压力传感特性研究[J].光学学报,2015,35(10):1006001.
10 Chen Haiyun,Gu Zhengtian,Gao Kan.Multi-parameter photochemical sensing technology of long-period fiber grating and wavelength division multiplexing[J].Chinese J Lasers,2014,41(2):0205003.陈海云,顾铮,高侃.基于波分复用的长周期光纤光栅光化学多参量传感技术研究[J].中国激光,2014,41(2):0205003.
11 Abushagur A A G,Arsad N,Reaz M I,et al..Advances in bio-tactile sensors for minimally invasive surgery using the fibre Bragg grating force sensor technique:Asurvey[J].Sensors,2014,14(4):6633-6665.
12 Taffoni F,Formica D,Saccomandi P,et al..Optical fiber-based MR-compatible sensors for medical applications:An overview[J].Sensors,2013,13(10):14105-14120.
13 Hill K O,Fujii Y,Johnson D C,et al..Photosensitivity in optical fiber waveguides:Application to reflection filter fabrication[J].Applied Physics Letters,1978,32(10):647-649.
14 Kawasaki B S,Hill K O,Johnson D C,et al..Narrow-band Bragg reflectors in optical fibers[J].Optics Letters,1978,3(2):66-68.
15 Morey W W,Meltz G,Glenn W H.Fiber optic Bragg grating sensors[C].SPIE,1989,169:98-107.
16 Xiong L,Zhang D S,Li L T,et al..EFPI-FBG hybrid sensor for simultaneous measurement of high temperature and large strain[J].Chinese Optics Letters,2014,12(12):120605.
17 Li Chuan,Zhang Yimo,Zhao Yonggui,et al..Fiber grating:Principles,techniques,and sensing applications[M].Beijing:Science Press,2005.李川,张以谟,赵永贵,等.光纤光栅:原理、技术与传感应用[M].北京:科学出版社,2005.
18 Kersey A D,Davis M A,Patrick H J,et al..Fiber grating sensors[J].Journal of Lightwave Technology,1997,15(8):1442-1463.
19 Fernandez A,Berghmans F,Brichard B,et al..Multi-component force sensor based on multiplexedbre Bragg grating strain sensors[J].Measurement Science and Technology,2001,12:810-813.
20 Park Y L,Ryu,Black R J,et al..Fingertip force control with embedded fiber Bragg grating sensors[C].2008IEEEInternational Conference on Robotics and Automation,2008:3431-3436.
21 Park Y L,Ryu S C,Black R J,etal..Exoskeletal force-sensing end-effectors with embedded optical fiber-Bragg-grating sensors[J].IEEE Transactions on Robotics,2009,25(6):1319-1331.
22 Mueller M S,Hoffmann L,Buck T S,etal..Realization of a fiber-optic force-torque sensor with six degrees of freedom[C].SPIE,2008,7266:72660S.
23 Mueller M S,Hoffmann L,Buck T S,etal..Fiber Bragg grating-based force-torque sensor with six degrees of freedom[J].International Journal of Optomechatronics,2009,3(3):201-214.
24 Jiang Qi,Gao Fangfang,Li Yibin,et al..Design and research of wrist force sensor based on FBG[C].IEEEInternational Conference on Information and Automation,2013:390-395.
25 Gao Fangfang.Research ofmulti-dimensional force sensing technology based on fiber Bragg grating[D].Jinan:Shandong University,2014.高芳芳.基于光纤光栅的多维力传感技术研究[D].济南:山东大学,2014.
26 Jiang Qi,Song Jinxue,Gao Fangfang,et al..Research of robot multidimensional force sensing technology based on fiber Bragg grating[J].Journal of Optoelectronics獉Laser,2014,25(11):2123-2129.蒋奇,宋金雪,高芳芳,等.基于光纤光栅的机器人多维力传感技术研究[J].光电子爛激光,2014,25(11):2123-2129.
27 Fu Yili,Li Kun,Pan Bo,et al..A survey of force sensing and force feedback technology for robot-assisted minimally invasive surgical system[J].Robot,2014,36(1):117-128.付宜利,李坤,潘博,等.微创手术机器人力检测与力反馈技术研究现状[J].机器人,2014,36(1):117-128.
28 Song H,Kim H,Jeong J,et al..Development of FBG sensor system for force-feedback in minimally invasive robotic surgery[C].2011IEEE Fifth International Conference on Sensing Technology,2011:16-20.
29 Song H,Kim K,Lee J.Development of optical fiber Bragg grating force-reflection sensor system of medical application for safe minimally invasive robotic surgery[J].Review of Scientific Instruments,2011,82(7):074301.
30 Haslinger R,Leyendecker P,Seibold U.A fiberoptic force-torque-sensor for minimally invasive robotic surgery[C].IEEE International Conference on Robotics and Automation,2013:4390-4395.
31 He X,Balicki M A,Kang J U,et al..Force sensing micro-forceps with integrated fiber Bragg grating for vitreoretinal surgery[C].SPIE,2012,8218:82180W.
32 Gonenc B,Handa J,Gehlbach P,et al..Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery[C].35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC),2013:5686-5689.
33 He X,Handa J,Gehlbach P,et al..A submillimetric 3-DOF force sensing instrument with integrated fiber Bragg grating for retinal microsurgery[J].IEEE Transactions on Biomedical Engineering,2014,61(2):522-534.
34 Gijbels A,Reynaerts D,Stalmans P,et al..Design and manufacturing of a 2-DOF force sensing needle for retinal surgery[C].4th Joint Workshop on New Technology for Computer/Robot Assisted Surgery,2014:12-15.
35 Park Y L,Elayaperumal S,Daniel B,et al..Real-time estimation of 3-D needle shape and deflection for MRI-guided interventions[J].IEEE/ASME Transactions on Mechatronics,2010,15(6):906-915.
36 Elayaperumal S,Bae J H,Christensen D,etal..MR-compatible biopsy needle with enhanced tip force sensing[C].IEEEWorld Haptics Conference(WHC),2013:109-114.
37 Yang Y J,Cheng M Y,Shih S C,et al..A 32×32temperature and tactile sensing array using PI-copper films[J].The International Journal of Advanced Manufacturing Technology,2010,46(9-12):945-956.
38 Heo J S,Lee J J.Development of flexible force sensors using fiber Bragg grating for tactile sensing and its evaluation[C].SPIE,2005,5852:372-378.
39 Heo J S,Chung J H,Lee J J.Application of optical fiber sensor for the tactile sensor system[C].1st International Conference on Sensing Technology,2005:32-37.
40 Heo J S,Lee J J.Temperaturesensor array for tactile sensation using FBG sensors[C].5th IEEE Conference on Sensors,2006:1464-1467.
41 Heo J S,Chung J H,Lee J J.Tactile sensor arrays using fiber Bragg grating sensors[J].Sensors and Actuators A:Physical,2006,126(2):312-327.
42 Heo J S,Han C H,Lee J J.System design and evaluation of the robot tactile sensor using the microbending fiber optic sensors[C].The 16th IEEE International Conference on Robot and Human interactive Communication,2007:14-18.
43 Heo J S,Kim J Y,Lee J J.Tactile sensors using the distributed optical fiber sensors[C].3rd International Conference on Sensing Technology,2008:486-490.
44 Cowie B,Allsop T,Williams J,et al..An optical fiber Bragg grating tactile sensor[C].SPIE,2007,6585:65850I.
45 Cowie B M,Webb D J,Tam B,et al..Fiber Bragg grating sensors for distributive tactile sensing[J].Measurement Science and Technology,2007,18(1):138.
46 Saccomandi P,Caponero M A,Polimadei A,et al..An MR-compatible force sensor based on FBG technology for biomedical application[C].36th Annual International Conference of the Engineering in Medicine and Biology Society(EMBC),2014:5731-5734.
47 Saccomandi P,Oddo C M,Zollo L,et al..Feedforward neural network for force coding of an MRI-compatible tactile sensor array based on fiber Bragg grating[J].Journal of Sensors,2015,2015:1-9.
48 Song Jinxue,Jiang Qi,Huang Yuanyang,et al..Research on pressure tactile sensing technology based on fiber Bragg grating array[J].Photonic Sensors,2015,5(3):263-272.
49 Yang Tangwen,Chen Panfei,Hang Jianda,et al..Wavelet transform analysis of optic fiber force sensing signals at puncture needle tip[J].Optics and Precision Engineering,2015,23(8):2149-2157.杨唐文,陈盼飞,韩建达,等.穿刺针尖光纤力传感信号的小波变换分析[J].光学精密工程,2015,23(8):2149-2157.