Exoskeletal force-sensing end-effectors with embedded optical fiber-bragg-grating sensors

Yong Lae Park, Seok Chang Ryu, Richard J. Black, Kelvin K. Chau, Behzad Moslehi, Mark R. Cutkosky

Research output: Contribution to journalArticlepeer-review

82 Scopus citations


Force sensing is an essential requirement for dexterous robot manipulation. We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and estimation of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. In this paper, we present a fabrication process that allows us to create hollow multimaterial structures with embedded fibers and the results of experiments to characterize the sensors and controlling contact forces in a system involving an industrial robot and a two-fingered dexterous hand. We also briefly describe the optical-interrogation method used to measure multiple sensors along a single fiber at kilohertz rates for closed-loop force control.

Original languageEnglish
Article number5306100
Pages (from-to)1319-1331
Number of pages13
JournalIEEE Transactions on Robotics
Issue number6
StatePublished - Dec 2009


  • Biologically inspired robots
  • Dexterous manipulation
  • Fiber Bragg grating (FBG)
  • Force and tactile sensing
  • Force control
  • Shape-deposition manufacturing.


Dive into the research topics of 'Exoskeletal force-sensing end-effectors with embedded optical fiber-bragg-grating sensors'. Together they form a unique fingerprint.

Cite this