Tactile sensing system for robotics dexterous manipulation based on a matrix of 3-axes force sensors
Tactile sensing system for robotics dexterous manipulation based on a matrix of 3-axes force sensors
复制标题
基于三轴力传感器矩阵的机器人灵巧操纵触觉传感系统
DOI：
10.1109/iros.2015.7353657
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
A. Micaelli
中科院分区：
文献类型：
--
作者：
Andres Ospina;Saifeddine Aloui;C. Godin;M. Grossard;A. Micaelli
本文介绍了一种触觉传感系统，该系统能够测量三个力分量，三个扭矩分量以及施加在与力-扭矩传感器阵列相连的表面上的力的质心位置。本文讨论了该系统的设计、校准和测试，该系统的表面连接到一组压阻式MEMs硅三轴力传感器。在这种配置中，只估计接触位置和力分量。试验证明，该传感器满足了实现机器人灵巧操作所需的大部分特性。
This paper presents a tactile sensing system capable of measuring three force components, three torque components and the position of the centroid of the forces applied to a surface linked to an array of force-torque sensors. The paper deals with the design, the calibration, and the testing of a specific configuration of this system, where the surface is connected to an array of piezoresistive MEMs silicon 3-axis force sensors. In this configuration, only the contact position and the force components are estimated. The tests have proven that this sensor satisfies most of the characteristics needed to achieve robotic dexterous manipulation.