Tactile sensing using a novel air cushion sensor: A feasibility study
Tactile sensing using a novel air cushion sensor: A feasibility study
复制标题
使用新型气垫传感器进行触觉传感：可行性研究
DOI：
10.1109/iros.2008.4651070
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
L. Seneviratne
中科院分区：
文献类型：
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作者：
D. Zbyszewski;A. Bhaumik;K. Althoefer;L. Seneviratne
本文提出了一种新的气垫传感器，用于从软组织中获取触觉和力的信息，因为它可能是有用的，在机器人辅助微创手术，以提供外科医生与触觉和触觉反馈。推进最近关于滚动压头的工作[1]，这里提出的传感器利用刚性球体，该球体被保持在管状轴的端部，并通过空气流压靠在组织上。组织硬度的变化导致球体在轴内移动，并由光学系统拾取。这种新方法允许球体在tissuepsilas表面上几乎无摩擦地运动，并在大面积软组织上快速获取触觉信息。介绍了这种新型气垫式触觉传感器的结构和工作原理。实验室实验表明，该传感器系统的可行性和说明的行为。所进行的实验的结果显示了传感器系统的潜力。
This paper proposes a novel air-cushion sensor for the acquisition of tactile and force information from soft tissue, as it could be useful during robotic-assisted minimally invasive surgery in order to provide the surgeon with tactile and haptic feedback. Advancing recent work on rolling indenters [1], the sensor proposed here makes use of a rigid sphere which is held at the end of a tubular shaft and pressed against the tissue by a stream of air. Variations in tissue stiffness result in movements of the sphere within the shaft and are picked up by an optical system. The new approach allows virtually frictionless motion of the sphere across the tissuepsilas surface and rapid acquisition of tactile information over large areas of soft tissue. The structure and working principles of this new air-cushion tactile sensor are described. Laboratory experiments are conducted to show the feasibility and illustrate the behaviour of the proposed sensor system. The outcome of the conducted experiments shows the potential of the sensor system.