Soft Tactile Sensor Arrays for Force Feedback in Micromanipulation
Soft Tactile Sensor Arrays for Force Feedback in Micromanipulation
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DOI：
10.1109/jsen.2013.2297380
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发表时间：
2014-05-01
影响因子：
4.3
通讯作者：
Wood, Robert J.
中科院分区：
文献类型：
--
作者：
Hammond, Frank L., III;Kramer, Rebecca K.;Wood, Robert J.
本文介绍了用于微操作中亚毫米接触定位和接触力测量的软触觉传感器阵列的设计、制造和实验验证。嵌入弹性传感器体内的导电液体微通道的几何形状和位置经过优化，可为代表性的微操作任务提供高灵敏度，并克服先前软触觉传感器研究中出现的功能限制。数值优化的传感器原型的机械测试表明，其对 < 50 mN 的法向接触力的灵敏度和亚毫米接触定位分辨率。触觉传感实验证明了通过分析微通道变形模式来推断在传感器表面施加力的物体的抽象几何形状和运动的能力。
This paper describes the design, fabrication, and experimental validation of a soft tactile sensor array for submillimeter contact localization and contact force measurement in micromanipulation. The geometry and placement of conductive liquid microchannels embedded within the elastic sensor body are optimized to provide high sensitivity for representative micromanipulation tasks and to overcome functional limitations seen in previous soft tactile sensor research. Mechanical testing of the numerically optimized sensor prototype demonstrates sensitivity to normal contact forces of < 50 mN and submillimeter contact localization resolution. Tactile sensing experiments demonstrate the ability to infer the abstract geometries and motions of objects imparting force on the sensor surface by analyzing microchannel deformation patterns.