Wrinkled Soft Sensor with Variable Afferent Morphology: Case of Bending Actuation
Wrinkled Soft Sensor with Variable Afferent Morphology: Case of Bending Actuation
复制标题
具有可变传入形态的皱纹软传感器：弯曲驱动的情况
DOI：
10.1109/lra.2020.2982867
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发表时间：
2020
影响因子：
5.2
通讯作者：
Van Anh Ho
中科院分区：
文献类型：
--
作者：
Qi Qiukai;Van Anh Ho
传感器的形态是非常重要的，特别是对于触觉传感器，主要将物理接触转换为可感知的信号，以供中央系统进一步处理。具有各种形态的传感器可以导致不同的信号，从而潜在地影响感知。以往大多数触觉传感器形态学的研究集中在揭示一个特定的形态学的二元方式的进步，通过提供传感器与不形态，然后比较性能。较少关注的是可变形态的传感器。在这封信中，我们展示了一个褶皱的软触觉传感器与可变形态，导致可调的传感和感知性能。具体地，通过改变传感器弯曲状态，可以改变褶皱的几何结构和传感器的整体刚度。对这种变形行为进行了解析建模，并通过有限元分析和真实的实验进行了验证。此外，这些形态变化被发现密切影响传感器的性能在三个任务，包括力传感，形状识别和纹理检测。有趣的是，对于每个任务，总是有一个最佳的形态状态，最大限度地提高传感器的性能，即力的灵敏度和感知精度。这为新型主动触觉传感系统的设计提供了思路，从而通过自适应形态学而不是感觉运动控制算法来优化感知增益，从而实现“主动”。
The sensor morphology is of great importance, especially for tactile sensors that mainly transduce physical contacts to perceivable signals for further processing by the central system. Sensors with various morphology can result in different signal thus potentially influencing perception. Most previous researches on tactile sensor morphology focused on revealing advance of a particular morphology in a binary manner, by providing sensors with and without that morphology then comparing the performance. Less attention was paid to sensors with changeable morphology. We demonstrate in this letter a wrinkled soft tactile sensor with variable morphology, leading to tunable sensing and perception property. Specifically, the geometrical structure of wrinkles and the overall stiffness of the sensor can be varied by changing the sensor bending state. This morphing behavior was modeled analytically, and verified by both Finite Element Analysis and real experiment. Furthermore, these morphological variations were found to closely affect the performance of sensor in three tasks including force sensing, shape discrimination and texture detection. Interestingly, for each task, there was always an optimal morphological state that maximized the sensor performance, namely force sensitivity and perception accuracy. This sheds light to novel active tactile sensing system design, thus realizing “active” by adapting morphology instead of sensorimotor control algorithm to optimize perception gain.