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.

Force sensing is an essential requirement for dexterous robot manipulation. Although strain gages have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility and immunity to electromagnetic noise. An exoskeletal force sensing robot finger was developed by embedding fiber Bragg grating (FBG) sensors into a polymer-based structure. Multiple FBG sensors were embedded into the structure to allow the manipulator to sense and measure both contact forces and grasping forces. In order to fabricate a three-dimensional structure, a new shape deposition manufacturing (SDM) process was explored. The sensorized SDM-fabricated finger was then characterized using an FBG interrogator. A force localization scheme is also described