ULTRASONIC EMISSION TACTILE SENSING
ULTRASONIC EMISSION TACTILE SENSING
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DOI：
10.1109/37.341866
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发表时间：
1995-02-01
影响因子：
5.7
通讯作者：
ANDO, S
中科院分区：
文献类型：
--
作者：
ANDO, S
本文描述了一种正在进行的新型触觉传感装置的研究，该装置基于触摸和/或接触运动引起的声发射的瞬时定位。作者提出了一种传感器结构，该结构由一个柔性的、球形的指尖状物体和一个嵌入在身体中心的四元聚偏氟乙烯(PVDF，一种压电聚合物)声传感矩阵组成。当被触摸时，球面上的任何点都充当发射源，身体将波向内传播。PVDF矩阵用作宽带声发射(AE)换能器，能够逐个包地检测波的到达方向。这意味着它可以独立解决和定位一系列因触摸和滑动而产生的超声波辐射。为了实现这种类型的触觉传感器，作者考虑了两个重要的问题：1)触摸出现了什么类型的超声波发射，它们是可检测的吗？2)如何同时分辨和定位多个波包？对于第一个问题，作者发展了碰撞时的波浪产生理论，并通过几个实验检验了可探测性。对于第二个问题，作者展示了他们的听觉传感器的声音定位算法是如何应用的。假定使用该算法，并通过在不同接触和滑动条件下的多次实验，证实了可以获得以下特征和触觉信息：1)快速定位触摸和分离；2)运动下的表面粗糙度感觉；3)快速检测滑动前兆。
This article describes an ongoing study for a new type of tactile sensing device which is based on instantaneous localization of acoustic emissions caused by touch and/or contact movement. The authors assume a sensor structure which consists of a flexible, spherical, fingertip-like body and a quadruple polyvinylidene fluoride (PVDF, a kind of piezoelectric polymer) sound-sensing matrix embedded at the center of the body. Any points on the spherical surface work as emission sources when touched, and the body transmits the waves inward. The PVDF matrix works as a wideband acoustic emission (AE) transducer which is capable of detecting arrival directions of the waves, packet by packet. This means it can independently resolve and localize a series of ultrasonic emissions caused by a touch and slip. In order to realize this type of tactile sensor, the authors consider two important questions: 1) What kind of ultrasonic emissions appear by touch, and are they detectable? 2) How can the multiple wave packets be resolved and localized instantaneously? For the first question, the authors develop a theory of wave generation at collision, and examine detectability by several experiments. For the second question, the authors show how their sound localization algorithm for an auditory sensor is applied. By assuming the use of this algorithm, and from several experiments under various contact and slip conditions, the authors confirm that the following features and tactile information are obtainable: 1) quick localization of touch and separation; 2) sensation of surface roughness under movements; and 3) quick detection of precursor of slip.<>