Development of Artificial Finger Skin with Static Friction Sensation Imitating Human Finger Using PVDF Film
Development of Artificial Finger Skin with Static Friction Sensation Imitating Human Finger Using PVDF Film
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利用PVDF薄膜研制具有静摩擦感觉的仿人手指人造手指皮肤
DOI：
10.7210/jrsj.22.806
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Y. Umetani
中科院分区：
文献类型：
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作者：
I. Fujimoto;Yoji Yamada;T. Maeno;T. Morizono;Y. Umetani
本研究的目的是研制一种具有静摩擦觉的PVDF薄膜传感器。为了开发该传感器，我们回想起传感功能应该通过早期滑动检测来实现。首先设计的人造手指，其特征与人类手指的形状和部分传感功能相关，能够进行初期滑动检测：手指皮肤在表面上具有脊，在每个脊中嵌入一对人造FAI受体。两个阶段的设计过程中也被证明，以确保有用的信息，而没有任何塑性变形的膜条。设计阶段是设计FAI受体的特征。作为FAI接收器的传感器，我们选择了具有动态应力率特性的PVDF薄膜。设计阶段包括确定人造手指皮肤的形状和大小，以及传感器在脊中的位置。分析来自换能器的信号，以确定每个换能器的最佳位置，以便在未来的过程中利用从换能器获取的信息。分析了手指表面发生初始滑移时手指皮肤的应力。实验结果表明，差分输出电压信号从一对人工FAI受体嵌入在脊捕获低频振动，以产生一个预测信号，警告的早期滑动的脊。结果还表明，高频振动信号本身不能使用人工FAI受体检测，并建议需要人工FAII受体在静摩擦感觉信息处理。
Th eg oal of our study is development of a sensor which has static friction sensation using paired pieces of PVDF film strips. In order to develop the sensor, we recall that the sensing function is supposed to be attained through incipient slip detection. First is designed the artificial finger whose characteristics are associated with those of a human finger with respect to the shape and a part of the sensing functions enabling the incipient slip detection: The finger skin has ridges on the surface in each of which a pair of artificial FAI receptors are embedded. The design process of two phases is also shown to secure useful information without any plastic deformation of the film strips. Design phase � 1i s to design the characteristics of a FAI receptor. As the transducer for the FAI receptors, we choose PVDF fil ms heets which have a dynamic stress rate characteristic. Design phase � 2i nvolves determination of the shape and size of the artificial finger skin, and the location of the transducers in a ridge. Signals from the transducers are analyzed concerning where the best position for each of the transducers is to utilize the information acquired from the transducers in the future process. We analyze the stress in the finger skin when incipient slip occurs at the surface. The experimental results reveal that the differential output voltage signal from a pair of artificial FAI receptors embedded in a ridge captures low-frequency vibration to generate a predictive signal which warns incipient slip of the ridge. The results also show, that high-frequency vibratory signal itself cannot be detected using the artificial FAI receptors and suggests a need of artificial FAII receptors in static friction sensory information processing.