Influence of material optical properties in direct ToF LiDAR optical tactile sensing : comprehensive evaluation

Aulika, Ilze (avtor), Ogurcovs, Andrejs (avtor), Kemere, Meldra (avtor), Bundulis, Arturs (avtor), Butikova, Jelena (avtor), Kundzins, Karlis (avtor), Bacher, Emmanuel (avtor), Laurenzis, Martin (avtor), Schertzer, Stephane (avtor), Stopar, Julija (avtor), Zore, Aleš (avtor), Kamnik, Roman (avtor)

Optical tactile sensing is gaining traction as a foundational technology in collaborative and human-interactive robotics, where reliable touch and pressure feedback are critical. Traditional systems based on total internal reflection (TIR) and frustrated TIR (FTIR) often require complex infrared setups and lack adaptability to curved or flexible surfaces. To overcome these limitations, we developed OptoSkin—a novel tactile platform leveraging direct time-of-flight (ToF) LiDAR principles for robust contact and pressure detection. In this extended study, we systematically evaluate how key optical properties of waveguide materials affect ToF signal behavior and sensing fidelity. We examine a diverse set of materials, characterized by varying light transmission (82–92)%, scattering coefficients (0.02–1.1) cm−1, diffuse reflectance (0.17–7.40)%, and refractive indices 1.398–1.537 at the ToF emitter wavelength of 940 nm. Through systematic evaluation, we demonstrate that controlled light scattering within the material significantly enhances ToF signal quality for both direct touch and near-proximity sensing. These findings underscore the critical role of material selection in designing efficient, low-cost, and geometry-independent optical tactile systems.

• Jezik: Angleški jezik
• Ključne besede: optical tactile sensing, time-of-flight (ToF) LiDAR, frustrated total internal reflection (FTIR), waveguide materials, light scattering, diffuse reflectance, refractive index, contact detection, proximity sensing, silicone resin, 3D-printed polymer materials, acrylic glass
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2025
• Št. strani: 18 str.
• Številčenje: Vol. 18, iss. 14, art. 3287
• PID: 20.500.12556/RUL-170829
• UDK: 681.5
• ISSN pri članku: 1996-1944
• DOI: 10.3390/ma18143287
• COBISS.SI-ID: 242765571
• Datum objave v RUL: 17.07.2025

Gradivo je del revije

• Naslov: Materials
• Skrajšan naslov: Materials
• Založnik: MDPI
• ISSN: 1996-1944
• COBISS.SI-ID: 33588485

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: optično krmilno zaznavanje, čas preleta (ToF) Lidar, interni popolni odboj (FTIR, material za optično vodilo, sipanje svetlobe, difuzna refleksija, lomni količnik, zaznavanje dotika, silikon, 3D natisnjeni polimerni materiali, akrilno steklo

Projekti

• Financer: EC - European Commission
• Številka projekta: 101070310
• Naslov: Physical Cognition for Intelligent Control and Safe Human-Robot Interaction
• Akronim: Sestosenso

• Financer: EC - European Commission
• Številka projekta: 739508
• Naslov: Centre of Advanced Materials Research and Technology Transfer CAMART²
• Akronim: CAMART2