Reflective Optical Tactile Sensor Based on Fiber Specklegram Analysis With the Capability of Contact Position Identification

A reflective tactile sensing scheme based on fiber specklegram analysis is proposed in this study. The specially designed sensor probe with a reflector inside was 3D printed from elastic material. A section of single mode fiber (SMF) and a section of multimode fiber (MMF) were embedded under the reflector. The light emitted from the SMF is reflected by the reflector and the reflected light illuminates the MMF. At the output facet of the MMF, specklegram is detected by a camera. The reflector consists of two soft mirrors that are perpendicular to each other originally. The contact force on the sensor probe causes the variation of the angle between the two mirrors. The transmission path of the light from SMF to MMF changes accordingly, which results in a changed specklegram. In this way, the zero-mean normalized cross-correlation coefficients of the fiber specklegrams decrease linearly with the increase of contact force. The sensitivity and measurement range of contact force are examined with MMFs of different diameters under two operating wavelengths. The negligible effect of fiber bending on the force sensing was also experimentally confirmed. In addition, the convolutional neural network is used to classify the specklegrams of three contact forces applied at nine positions of the sensor probe, and the average accuracy of classification is 100%, which shows its capability to identify the contact position on the probe. On the whole, the proposed tactile sensor is confirmed with a high sensitivity of force sensing in a proper measurement range and a capability to localize the contact position. The reflective structure also facilitates the integration with robot arm and other intelligent structures.