Soft optical sensing strategies are rapidly developing for soft robotic systems. In this thesis, a roughness tuning strategy for the fabrication of soft optical sensors to achieve the triple functionality of shape sensing combined with contact detection and force intensity recognition within a single multi-modal sensor is presented. The integration of these sensors into a fully soft robotic platform is demonstrated. The robot consists of a multi-directional bending module with integrated 3D shape sensing and a gripper with tip position monitoring along with contact force recognition and sensing. This robot is tested in a mock laparoscopic setup to prove the effectiveness to be implemented into minimally invasive medical robotic systems. / 2025-01-15T00:00:00Z
| Identifer | oai:union.ndltd.org:bu.edu/oai:open.bu.edu:2144/45448 |
| Date | 16 January 2023 |
| Creators | Juliá Wise, Frank |
| Contributors | Russo, Sheila |
| Source Sets | Boston University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
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