Multi-Purpose & Multi-Functional Dexterous End-Effectors for Robots

This SBIR proposal requesCts follow-on Phase 2 funding under the 2019 NASA SBIR/STTR solicitation Subtopic Z5.04 (Sensor-Fused Interactive Perception for Adaptive Space Robotics). Building upon its successful Phase I feasibility demonstration, Intelligent Fiber Optic Systems Corporation (IFOS) proposes to develop and demonstrate photonic-based Intra-Vehicular Activity (IVA) robot enablers to capture objects using tactile and force feedback and provide diagnostic measurements. In Phase 1, IFOS addressed the proof-of-concept feasibility of embedding optical fiber Bragg grating (FBG) sensors into 3D printed sensory pads that could detect tactile, multi-axis force, and temperature inputs similar to the sensitivity of the human hand. By using a single type of sensor for multiple sensing applications, the design process for all projects is highly streamlined. In addition, optical fiber is robust and can be used to create extremely reliable yet sensitive distributed sensing systems that can be exposed to and operate in harsh and extreme environments. In Phase 2, IFOS will demonstrate a robotic hand with embedded optical sensing. The project will develop a miniature PIC-based FBG interrogator suitable for incorporation in Gateway compatible robots, demonstrate a multiplexed gripper sensing suite for infusion into Gateway compatible robots, and perform MISSE orbital testing on ISS. IFOS innovative platform will provide NASA and the commercial space community a robotic gripper providing fiber-optic sensor multiplexibility, electromagnetic and RF interference (EMI/RFI) immunity, radiation hardness, the ability to operate over large temperature ranges (76 K - 2073 K), and a high-speed sampling rate. Such a tool has application to intra- and extra-vehicular activity (IVA and EVA) tasks. Specifically, we envision FBG sensors enabling robotic caretakers on NASAs future Gateway program to maintain the lunar base both from within and outside. IFOS has proposed an innovative multi-purpose and multi-functional dexterous manipulator system – Gripper*Sense™ – for autonomous robots such as Astrobee, featuring an end-effector comprising a set of fingers with embedded fiber Bragg grating (FBG) sensors. This ‘sensitive skin’ can convey tactile and force feedback information to an interrogator that controls the fiber-sensed actuators and downstream, an active wrist. Phase I benefited from customized design of a miniaturized interrogator – I*SenseNano™ – which will form a basis for a Phase II demonstration of the interrogator. Enabled by the latest advances in photonic integrated circuit (PIC) technology, the interrogator is small enough to be accommodated in the Astrobee, where it will interface with other systems to perform numerous IVA tasks including structure inspection, and parameter sensing. A spaceflight test will demonstrate system performance under extended space exposure. Overall goal: To develop photonic-based Intra-Vehicular Activity (IVA) robot enablers to capture objects using tactile & force feedback and provide diagnostic measurements.   Phase II objectives: Develop a miniature PIC-based interrogator suitable for incorporation in Gateway compatible robots Design, construct and validate multiplexed, EMI-immune gripper sensing suite Fabricate, test and validate example sensors and test procedures appropriate to infusion into Gateway compatible robots Phase II work plan: Finalize planning, system specs & manipulator design selection Design & construct FO sensor system suitable for robotic fingers Develop and test multifunctional gripper sensor suite instrumentation software Develop control engines Employ underactuated hand design Perform MISSE Orbital Testing on ISS Finalize & perform demo Develop Technology Transition Plan (TTP) Prepare deliverables

Robonaut R2: IFOS Gripper*Sense will enhance dexterous manipulation capabilities, allowing greater range of IVA and EVA tasks while reducing risk of damage. Lunar Gateway: During unmanned periods, autonomous robots can maintain station, with mission control defining tasks. Astronauts would operate the robots while at Gateway. Medical Robots: A specialized gripper with sensitive movements and force application would enable interaction with medical tools and patients.   Medical teams will restore partial mobility for paralysis victims. Industrial: Manufacturers will increase productivity in product assembly automation Search & Rescue: Explore life- threatening situations without risk to life, e.g. in mine shafts or in collapsed structures after earthquakes or floods. Toy Industry: Enhancement of specimens resembling the functions of people or pets.  

This is early/mid-stage (TRL 6) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.

None of these are guaranteed paths for this specific project — TechPort itself doesn't have an "apply" button. Reaching out to the contact(s) above with a specific question is usually the fastest way to find out what's actually open.