Design and Characterization of Tri-Axis Soft Inductive Tactile Sensors
Design and Characterization of Tri-Axis Soft Inductive Tactile Sensors
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DOI：
10.1109/jsen.2018.2845131
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发表时间：
2018-10-01
影响因子：
4.3
通讯作者：
Culmer, Peter
中科院分区：
文献类型：
--
作者：
Wang, Hongbo;Jones, Dominic;Culmer, Peter
触觉传感器对于机器人系统安全有效地与环境和人类交互至关重要。特别是，三轴触觉传感器通过提供剪切力、滑动或接触角信息对于灵巧的机器人操作至关重要。软电感触觉传感器（SITS）是一种新型的触觉传感器，它测量由涡流效应引起的电感变化。在本文中，我们提出了一个软三轴触觉传感器使用的配置的四个平面线圈和一个单一的导电薄膜与超弹性材料之间。阐述了其工作原理并概述了设计方法。建立了三轴SITS的三维有限元模型，并通过参数研究优化了靶的设计。原型制造，表征和校准，并在每个轴上实现0.3 mN的力测量分辨率。演示表明，传感器可以清楚地测量光触摸（几mN的法向力）和剪切力脉冲（10-30 mN）产生的锯齿状叶片时，它是在传感器表面移动。所提出的传感器是低成本，高性能，坚固耐用，易于定制的各种机器人和医疗保健应用。
Tactile sensors are essential for robotic systems to safely and effectively interact with the environment and humans. In particular, tri-axis tactile sensors are crucial for dexterous robotic manipulations by providing shear force, slip, or contact angle information. The soft inductive tactile sensor (SITS) is a new type of tactile sensor that measures inductance variations caused by eddy-current effect. In this paper, we present a soft tri-axis tactile sensor using the configuration of four planar coils and a single conductive film with a hyperelastic material in between them. The working principle is explained and the design methods are outlined. A 3-D finite-element model was developed to characterize the tri-axis SITS and to optimize the target design through parameter study. Prototypes were fabricated, characterized, and calibrated, and a force measurement resolution of 0.3 mN is achieved in each axis. Demonstrations show that the sensor can clearly measure light touch (a few mN normal force) and shear force pulses (10-30 mN) produced by a serrated leaf when it is moved across the sensor surface. The presented sensor is low cost, high performance, robust, durable, and easily customizable for a variety of robotic and healthcare applications.