A single-chip multimodal tactile sensor for a robotic gripper
A single-chip multimodal tactile sensor for a robotic gripper
复制标题
用于机器人抓手的单芯片多模式触觉传感器
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Uriel Martinez
中科院分区：
文献类型：
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作者：
Gorkem Anil Al;Bilal El Achab Oussallam;Uriel Martinez
人工触觉传感是改善机器人与物体及其周围环境交互的必要元素。本文提出了一种新型的触觉传感器，它由一个芯片组成，可以提供包括压力，陀螺仪和加速度计在内的多模态数据。该芯片安装在印刷电路板（PCB）上，覆盖着由硅橡胶制成的软矩形外壳，并倒置在塑料底座上，形成夹层结构。当压力施加到PCB板的背面时，芯片被压在软橡胶外壳上，产生压力变化。分析了传感器的空间响应、灵敏度、加速度计和陀螺数据。一个三接触点软触觉传感器被设计为RobotiQ夹持器的手指，以测试传感器的接触和滑动检测以及物体抓取能力。首先，压力数据用于接触检测和物体抓取。其次，陀螺仪和加速度计的数据进行了探索，人对机器人和机器人对人的对象切换任务的基础上滑动检测。总体而言，实验结果表明，所提出的多模态触觉传感器适用于需要与物体和人类交互的机器人应用。
Artificial tactile sensing is a required element to improve robot interaction with objects and their surrounding environment. This work presents a novel tactile sensor composed of one chip that can provide multimodal data including pressure, gyroscope and accelerometer. The chip is mounted on a printed circuit board (PCB), covered with a soft rectangular case made of silicone rubber and placed upside down on a plastic base forming a sandwich arrangement. When pressure is applied to the behind of the PCB board, the chip is pressed against the soft rubber case generating pressure changes. The spatial response, sensitivity and accelerometer and gyroscope data of the sensor are analysed. A three contact point soft tactile sensor is designed as a finger for the RobotiQ gripper to test the sensor capability for contact and slip detection and object grasping. First, pressure data is used for contact detection and object grasping. Second, gyroscope and accelerometer data are explored for human-to-robot and robot-to-human object handover task based on slip detection. Overall, results from the experiments show the proposed multimodal tactile sensor is suitable for robotic applications that required interaction with objects and humans.