Biomimetic Tactile Sensor for Control of Grip
Biomimetic Tactile Sensor for Control of Grip
复制标题
用于控制握力的仿生触觉传感器
DOI：
10.1109/icorr.2007.4428534
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
G. Loeb
中科院分区：
文献类型：
--
作者：
Nicholas Wettels;D. Popovic;V. Santos;R. Johansson;G. Loeb
我们正在开发一种新颖、坚固的触觉传感器阵列，它模拟人类指尖及其分布式的触觉感受器。其机械部件类似于指尖，有一个刚性核心，周围是一种弱导电流体，包含在弹性皮肤内。它将指垫的可变形特性作为转换过程的一部分。多个电极安装在刚性核心的表面，并连接到核心内的阻抗测量电路。外力使电极周围的流体路径变形，导致阻抗变化呈现分布式模式，其中包含有关这些外力以及施加外力的物体的信息。在此，我们报告传感器原型的初步结果，并提出提取与机械输入相关特征以及利用此信息进行反射性抓握控制的策略。
We are developing a novel, robust tactile sensor array that mimics the human fingertip and its distributed set of touch receptors. The mechanical components are similar to a fingertip, with a rigid core surrounded by a weakly conductive fluid contained within an elastomeric skin. It uses the deformable properties of the finger pad as part of the transduction process. Multiple electrodes are mounted on the surface of the rigid core and connected to impedance measuring circuitry within the core. External forces deform the fluid path around the electrodes, resulting in a distributed pattern of impedance changes containing information about those forces and the objects that applied them. Here we report preliminary results with prototypes of the sensor, and we propose strategies for extracting features related to the mechanical inputs and using this information for reflexive grip control.