Nonlinear-programming optimized fiber Bragg grating based force-torque-sensor with six degrees of freedom

Abstract

Force-torque sensors are key elements in modern force feedback and robotic control applications. For special applications resistance against electromagnetic interference, high amount of load cycles or chemical resistance are important. For these applications, fiber-Bragg-grating based force torque sensors have been seen as possible solutions. Yet the implementation of a force-torque-sensor with six degrees of freedom and well conditioned sensitivities is still lacking demonstration. In this work, we demonstrate the design of a miniaturized fiber-Bragg-grating based force-torque sensor with six degrees of freedom using a numerical nonlinear programming technique. We implement the optimized structure and show its feasibility and sensitivity.