Contact Behavior of Soft Spherical Tactile Sensors
Contact Behavior of Soft Spherical Tactile Sensors
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DOI：
10.1109/jsen.2013.2296208
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发表时间：
2014-05-01
影响因子：
4.3
通讯作者：
Torres-Jara, Eduardo
中科院分区：
文献类型：
--
作者：
Youssefian, Sina;Rahbar, Nima;Torres-Jara, Eduardo
本文研究了一种具有球壳几何结构的柔性触觉传感器。这种受生物启发的传感器已经成功地在实际机器人身上进行了测试，这些机器人的行为是由触觉反馈引导的。建立了传感器的模型，研究了传感器对不同几何形状物体的接触响应。传感器响应是法向力和剪力（三维矢量）的估计。利用实验数据对模型进行了验证，并用于不同半径传感器的性能预测。这些信息使我们能够根据给定机器人应用的要求设计不同尺寸的传感器。
In this paper, we studied a compliant tactile sensor with a spherical shell geometry. This bioinspired sensor has been successfully tested in actual robots whose behaviors are guided by tactile feedback. A model of the sensor was developed to study the contact response of the sensor to objects with different geometries. The sensor response is the estimation of both, normal and shear forces (3-D vector). The model was validated using experimental data and used to predict the behavior of sensors with different radii. This information allows us to design sensors with different sizes according to the requirements of a given robotic application.