Estimation of Displacement and Rotation by Magnetic Tactile Sensor Using Stepwise Regression Analysis
Estimation of Displacement and Rotation by Magnetic Tactile Sensor Using Stepwise Regression Analysis
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DOI：
10.1155/2014/459059
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发表时间：
2014-10
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影响因子：
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通讯作者：
Hiroyuki Nakamoto;Taketo Wakabayashi;F. Kobayashi;F. Kojima
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文献类型：
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作者：
Hiroyuki Nakamoto;Taketo Wakabayashi;F. Kobayashi;F. Kojima
人体覆盖着柔软的皮肤，内部有触觉感受器。蒙皮沿着接触表面变形。触觉感受器检测机械变形。机械变形的检测对于触觉是必不可少的。我们提出一种具有软表面和八个磁阻元件的磁式触觉传感器。软表面内部具有永磁体，并且软表面下的磁阻元件测量磁体的磁通量密度。触觉传感器基于磁通量密度的变化来估计表面上的位移和旋转。因为位移和旋转不是基于磁通密度几何地确定的，所以估计方程的确定是困难的。本文用逐步回归分析法确定了估计方程。在回归分析中，磁阻元件的输出被用作解释变量，并且三轴位移和双轴旋转被用作响应变量。通过仿真和实验验证了回归分析法确定估计方程的有效性。结果表明，触觉传感器测量的位移和旋转产生的表面上，通过使用所确定的方程。
The human is covered with soft skin and has tactile receptors inside. The skin deforms along a contact surface. The tactile receptors detect the mechanical deformation. The detection of the mechanical deformation is essential for the tactile sensation. We propose a magnetic type tactile sensor which has a soft surface and eight magnetoresistive elements. The soft surface has a permanent magnet inside and the magnetoresistive elements under the soft surface measure the magnetic flux density of the magnet. The tactile sensor estimates the displacement and the rotation on the surface based on the change of the magnetic flux density. Determination of an estimate equation is difficult because the displacement and the rotation are not geometrically decided based on the magnetic flux density. In this paper, a stepwise regression analysis determines the estimate equation. The outputs of the magnetoresistive elements are used as explanatory variables, and the three-axis displacement and the two-axis rotation are response variables in the regression analysis. We confirm the regression analysis is effective for determining the estimate equations through simulation and experiment. The results show the tactile sensor measures both the displacement and the rotation generated on the surface by using the determined equation.