Crossed fiber optic tactile sensor

Abstract

A fiber optic sensor array includes a row of transmitting optical fibers, with a column of detecting optical fibers overlapping the transmitting fibers. A planar compliant spacer separates the transmitting fibers from the detecting fibers, so that a sensor element is defined at each location where a detecting fiber overlaps a transmitting fiber. The surfaces of each transmitting fiber and each receiving fiber are modified at the location of each sensor element to increase the optical coupling between the transmitting fiber and the receiving fiber at that element. The spacer in the array includes an opening between the transmitting fiber and the detecting fiber at the location of each sensor element. A support surface is affixed to the detecting fibers opposite the compliant spacer and a protective cover layer is affixed to the transmitting fibers opposite the compliant spacer. An array of light emitting elements, with each element in the emitting array being adapted to transmit light into one of the transmitting fibers, and an array of light detecting elements, each element in the detecting array being adapted to detect light emanating from one of the detecting fibers are provided. A clock times the emission of light from each emitting element and times the detection of light at each detecting element. The clock is connected to cause each detecting element to detect light in sequence after each emitting element has emitted light.