Soft, All‐Polymer Optoelectronic Tactile Sensor for Stick‐Slip Detection
Soft, All‐Polymer Optoelectronic Tactile Sensor for Stick‐Slip Detection
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DOI：
10.1002/admt.202200406
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发表时间：
2022-07
影响因子：
6.8
通讯作者：
M. Han;C. Harnett
中科院分区：
文献类型：
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作者：
M. Han;C. Harnett
人类触觉感觉系统的机械感受器有助于日常生活中的自然抓握操作。然而，在机器人系统的情况下，试图模仿人类的灵活性仍然受到触觉感官反馈的限制。在这项工作中，一个软的光学光导作为传入神经纤维的触觉感觉系统。类似皮肤的柔软硅胶材料与刷毛摩擦模型相结合，能够快速轻松地制造。由于这种新颖的设计，软传感器不仅可以提供法向力（高达5牛顿），还可以提供粘滑过程产生的侧向力信息。通过静态力测试和滑动运动测试，证明了其测量法向力和检测粘滑事件的能力。最后，使用机器人夹具，真实的-时间控制应用进行了研究，其中传感器帮助夹具施加足够的力来抓住物体而不打滑。
The mechanoreceptors of the human tactile sensory system contribute to natural grasping manipulations in everyday life. However, in the case of robot systems, attempts to emulate humans’ dexterity are still limited by tactile sensory feedback. In this work, a soft optical lightguide is applied as an afferent nerve fiber in a tactile sensory system. A skin‐like soft silicone material is combined with a bristle friction model, which is capable of fast and easy fabrication. Due to this novel design, the soft sensor can provide not only normal force (up to 5 Newtons) but also lateral force information generated by stick‐slip processes. Through a static force test and slip motion test, its ability to measure normal forces and to detect stick‐slip events is demonstrated. Finally, using a robotic gripper, real‐time control applications are investigated where the sensor helps the gripper apply sufficient force to grasp objects without slipping.