Flexible and stretchable fabric-based tactile sensor
Flexible and stretchable fabric-based tactile sensor
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DOI：
10.1016/j.robot.2014.09.007
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发表时间：
2015-01-01
影响因子：
4.3
通讯作者：
Ritter, Helge J.
中科院分区：
文献类型：
--
作者：
Buescher, Gereon H.;Koiva, Risto;Ritter, Helge J.
我们介绍了一种新型的、基于织物的、灵活的、可伸缩的触觉传感器，它能够无缝地覆盖自然形状。由于人类和机器人都有相对移动的弯曲身体部位，传统的刚性触觉传感器阵列的实际使用受到限制。相反，需要有弹性的触觉皮肤。我们的设计允许在一个传感器贴片中嵌入几个触觉单元。它可以具有任意周长，并可以覆盖自由形式的曲面。本文讨论了该传感器的结构，并对其性能进行了评价。我们灵活的触觉传感器在软衬垫(如凝胶垫)上保持工作状态，能够构建出类似人类的柔软触觉皮肤。该传感器允许读取压力测量，范围从微小的不到1 kpa到高于500 kpa的高压，这很容易覆盖日常人类手动交互的常见范围。由于传感器的分层结构，该传感器非常坚固，可以承受比人类更大的法向力而不会造成损害。作为该传感器的一个令人兴奋的应用，我们描述了一种由54个触觉单元和嵌入式数据采集电子设备组成的可穿戴触觉数据手套的构造。我们还讨论了在有水分的情况下保持传感器长期性能所必需的实施细节。(C)2014年提交人。爱思唯尔出版公司(Elsevier B.V.)
We introduce a novel, fabric-based, flexible, and stretchable tactile sensor, which is capable of seamlessly covering natural shapes. As humans and robots have curved body parts that move with respect to each other, the practical usage of traditional rigid tactile sensor arrays is limited. Rather, a flexible tactile skin is required. Our design allows for several tactile cells to be embedded in a single sensor patch. It can have an arbitrary perimeter and can cover free-form surfaces. In this article we discuss the construction of the sensor and evaluate its performance. Our flexible tactile sensor remains operational on top of soft padding such as a gel cushion, enabling the construction of a human-like soft tactile skin. The sensor allows pressure measurements to be read from a subtle less than 1 kPa up to high pressures of more than 500 kPa, which easily covers the common range for everyday human manual interactions. Due to a layered construction, the sensor is very robust and can withstand normal forces multiple magnitudes higher than what could be achieved by a human without sustaining damage.As an exciting application for the sensor, we describe the construction of a wearable tactile dataglove with 54 tactile cells and embedded data acquisition electronics. We also discuss the necessary implementation details to maintain long term sensor performance in the presence of moisture. (C) 2014 The Authors. Published by Elsevier B.V.