Instantaneous evaluation of friction based on ARTC tactile sensor
Instantaneous evaluation of friction based on ARTC tactile sensor
复制标题
基于ARTC触觉传感器的摩擦力瞬时评估
DOI：
10.1109/robot.2000.846350
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Katsuhiko Nakamura
中科院分区：
文献类型：
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作者：
H. Shinoda;S. Sasaki;Katsuhiko Nakamura
人类可以用几乎最小的抓握力举起物体，而不管手指和物体之间的摩擦系数如何，但是这项非凡任务的传感机制还没有得到很好的解释。我们提出了一种触觉传感器来检测在触摸的时刻的摩擦系数。通过这个传感器的输出，我们可以在没有任何初始运动的情况下，在滑动发生之前评估最大的升力。传感器在弹性体中具有感测单元，其测量平行于和垂直于表面的应变/应力分量。在一点处的这些多个应力/应变参数给出摩擦系数。利用声共振张量盒制作了传感器样机，并对其原理进行了实验研究。
A human can lift up an object with almost minimal grasping force regardless of the friction coefficient between the fingers and the object, but the sensing mechanism for this remarkable task has not been well explained yet. We propose a tactile sensor to detect a friction coefficient at the moment of touch. With this sensor output we evaluate the largest lifting-force just before a slip happens, without any preliminary motions. The sensor has a sensing cell in the elastic body, which measures strain/stress components parallel and vertical to the surface. Those plural stress/strain parameters at a point gives the friction coefficient. A prototype sensor is fabricated with acoustic resonant tensor cell, and we examine its principles in experiments.