OptoSkin : novel LIDAR touch sensors for detection of touch and pressure within wave guides

Bacher, Emmanuel (author), Cartiel, Sergio (author), García-Pueyo, Jorge (author), Stopar, Julija (author), Zore, Aleš (author), Kamnik, Roman (author), Aulika, Ilze (author), Ogurcovs, Andrejs (author), Grube, Jurgis (author), Bundulis, Arturs (author), Butikova, Jelena (author), Kemere, Meldra (author), Muñoz, Adolfo (author), Laurenzis, Martin (author)

Light Detection and Ranging (LIDAR) sensors, employing direct Time-of-Flight (dTOF) measurements, are crucial for precise surface localization and are increasingly integrated into compact chip designs. These sensors have extensive use in proximity sensing in various applications. This paper presents the innovative use of LIDAR sensors for ranging within wave guides to accurately detect touch and pressure. In our OptoSkin sensors, light propagates via total internal reflection (TIR) within the wave guide. Then it is reflected back to the sensor as a result of wave guide deformation and/or scattering in the contact area, a phenomenon attributed to frustrated total internal reflection (FTIR). We have designed, simulated, and implemented different OptoSkin sensors using wave guides constructed from a flexible rod, rigid curved 3D printed resin, and planar soft silicone rubber, respectively. Each configuration is equipped with multiple LIDAR sensors, demonstrating effective localization of touch points. In addition, pressure sensing was performed on the elastic wave guides. These novel touch sensors show great potential for applications such as robotic sensor skins, which enhance tactile responsiveness and interaction.

• Language: English
• Keywords: sensors, optical sensors, tactile sensors, optical scattering, optical reflection, optical refraction, optical fiber sensors, light detection and ranging, LIDAR, Time-of-Flight, TOF, touch detection, tactile sensing, frustrated total internal reflection, FTIR, wave guide, light guide, optical sensing, robotic sensor skin, proximity sensing
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2024
• Number of pages: Str. 33268-33280
• Numbering: Vol. 24, iss. 20
• PID: 20.500.12556/RUL-167554
• UDC: 681.586.5:007.52
• ISSN on article: 1530-437X
• DOI: 10.1109/JSEN.2024.3443615
• COBISS.SI-ID: 207028227
• Publication date in RUL: 27.02.2025

Record is a part of a journal

• Title: IEEE sensors journal
• Shortened title: IEEE sens. j.
• Publisher: Institute of Electrical and Electronics Engineers
• ISSN: 1530-437X
• COBISS.SI-ID: 22563589

Licences

• License: CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
• Link: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Description: The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.

Secondary language

• Language: Slovenian
• Keywords: senzorji, optični senzorji, taktilni senzorji, optično sipanje, optični odboj, optični lom, senzorji z optičnim vlaknom, detekcija svetlobe in razdalje, Lidar, čas potovanja, TOF, zaznavanje dotika, taktilno zaznavanje, popolni notranji odboj, optično vodilo, svetlobno vodilo, optično zaznavanje, robotska senzorna koža, zaznavanje bližine

Projects

• Funder: EC - European Commission
• Project number: 101070310
• Name: Physical Cognition for Intelligent Control and Safe Human-Robot Interaction
• Acronym: Sestosenso

• Funder: EC - European Commission
• Project number: 739508
• Name: Centre of Advanced Materials Research and Technology Transfer CAMART²
• Acronym: CAMART2