Identification of Incipient Slip Phenomena Based on The Circuit Output Signals of PVDF Film Strips E
Identification of Incipient Slip Phenomena Based on The Circuit Output Signals of PVDF Film Strips E
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基于PVDF薄膜条E电路输出信号的初期滑移现象识别
DOI：
10.9746/sicetr1965.40.648
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Y. Umetani
中科院分区：
文献类型：
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作者：
Yoji Yamada;T. Maeno;I. Fujimoto;T. Morizono;Y. Umetani
为了阐明人体静摩擦传感的机理，研制了一种以PVDF薄膜条为传感传感器的柔顺人工手指皮肤表面脊，用于早期滑动检测。我们描述了表面脊线的设计和制造，以及对滚动产生的早期滑移的独特检测。大多数传统的构造机器人触觉传感器机构的方法都存在一个基本的问题，即当它们试图安装在机器人指尖的一小块区域上以整合其各自的功能时，存在空间限制的基本问题。这是因为机器人指尖的有限空间无法容纳许多传感器机制，而不会导致彼此之间的任何机械干扰。通过接触，仅通过对几种机械感受器的触觉信息进行综合处理，就可以获得各种人类的触觉感知。因此，我们认为在触觉传感元件的行为和组织同时嵌入它们的设计策略的基础上构建一个触觉传感系统是非常重要的。因此，在皮肤组织中加入传感元件实现人工手指皮肤，使其在一种新的平台概念下具有各种机器人触觉感知能力：传感元件应该具有更宽的频率检测范围，并通过其精细的空间分配来获取有意义的信息，这就成为值得注意的问题。在研究中，我们通过对早期滑移检测的研究，证明了该设计策略的有效性，该滑移检测在阐明静摩擦感机理方面起着重要作用。为此，我们决定在像人类一样柔软的皮肤组织上获得振动触觉感知能力。早些时候，Jo-Hansson等人。1)在他们对人体静摩擦的研究中进行了检查
This paper deals with development of compliant artificial finger skin surface ridges with a pair of PVDF film strips embedded in each of them as sensing transducers for incipient slip detection in pursuit of elucidating the mechanism of human static friction sensing. We describe design and manufacture of the surface ridges and distinctive detection of incipient slip from rolling. Most of the conventional approaches to construction of various robot tactile sensor mechanisms hold a fundamental problem of a spatial limitation when they are attempted to be mounted on a small area of a robot fingertip for integration of their individual func- tions. This is because the limited space at a robot fingertip cannot house many sensor mechanisms without causing any mechanical interference with one another. By contact, a variety of human tac- tile perceptions are attained through integrated processing of tactile information from only several kinds of mechanoreceptors. There- fore, we consider it very important to build a tactile sensing system based upon a design policy of taking the behavior of tactile sensing elements and the tissue embedding them at the same time. Con- sequently, it becomes worth notice to realize artificial finger skin with sensing elements incorporated into the skin tissue so that they can be expected to have various robot tactile perception capabili- ties under a novel platform concept: the sensing elements should have a wider frequency detectable range and acquire meaningful information by their elaborate spatial allocation. In the study, we demonstrate the effectiveness of this design policy by pursuing in- cipient slip detection which plays an important role in elucidating the static friction sensation mechanism. For this purpose, we decided to attain vibrotactile sensing capa- bilities on a skin tissue that has softness like humans. Early, Jo- hansson et al. 1) examined in their study of human static friction