Multi-Purpose Anthropomorphic Robotic Hand Design for Extra-Vehicular Activity Manipulation Tasks Using Embedded Fiber Optic Sensors

IFOS proposes to design and build fiber-optically sensorized robotic fingers that can sense force and, objects using only tactile feedback, similar to the skin on a human hand. The innovation, employing fiber optic sensors, will b integrate the highest-density EMI-immune optical sensing for robotic hand systems to enable human-like tactile sensing capabilities. The innovative high-density manipulative system will add great dexterity to robotic hands and will be fully adaptable to performing complex Extravehicular tasks. In Phase I, IFOS will design a robotic hand and fingers system, focusing on the skin and muscle hardware requirements for tactile and force feedback information to be relayed to a central processor, which will then identify objects based on tactile feedback and provide a full haptic sense. A proof-of concept experiments planned for Phase I will demonstrate gripping and grasping using a sub-scale sensorized set of fingers. Results will be used as input for prototype planned for Phase II, along with preliminary test and evaluation recommendations for potential insertion into an advanced Robonaut servicer.