Hybrid Tactile Sensor System for a Robot Hand and Estimation of Fine Deformation Using the Sensor System
Hybrid Tactile Sensor System for a Robot Hand and Estimation of Fine Deformation Using the Sensor System
复制标题
用于机器人手的混合触觉传感器系统以及使用该传感器系统的精细变形估计
DOI：
10.1007/s12369-011-0119-6
复制
发表时间：
2012
影响因子：
4.7
通讯作者：
H. Yamada
中科院分区：
文献类型：
--
作者：
T. Kawamura;Ko Nejigane;K. Tanie;H. Yamada
在本文中，作者提出了一种由碳微线圈（CMC）触摸传感器和力传感器组成的混合触觉传感器系统。该传感器系统能够测量 CMC 传感器元件发生的几微米的微小变形以及压缩力。传感器元件由含有CMC的硅橡胶制成，并且认为传感器元件构成LCR电路。当传感器元件发生机械变形时，CMC传感器会因电路的修改而产生信号。在实验中，CMC 传感器的输出是针对 1 至 9 µm 的精细变形进行采样的。研究发现，CMC 传感器的输出取决于压缩力的大小，因为随着压缩力的增加，精细变形的传感器输出逐渐增加。因此，为了测量与压缩力无关的微细变形量，开发了从包括压缩变形和微细变形的变形的整体传感器输出中提取CMC传感器的微变形输出的测量方法。此外，在实验中评估了传感器系统在测量精细变形方面的性能。
In this paper, the authors propose a hybrid tactile sensor system consisting of a Carbon Micro Coil (CMC) touch sensor and a force sensor. This sensor system has the capability of measuring fine deformation of several micrometers occurring to a CMC sensor element, as well as the compression force. The sensor element is made of silicon rubber containing CMCs, and it is considered that the sensor element constitutes an LCR circuit. When the sensor element is deformed mechanically, the CMC sensor produces signals due to the modification of the circuit. In the experiment, the CMC sensor’s outputs are sampled in response to the fine deformations of 1 to 9 µm. And it is found that the CMC sensor’s outputs depend on the magnitude of the compression force since the sensor output for a fine deformation increases gradually as the compression force increases. Therefore, to measure the amount of the fine deformation regardless of the compression force, the measurement method for extracting the CMC sensor’s output for the fine deformation from the overall sensor output for the deformation that includes the compressive deformation and the fine deformation is developed. In addition, the performance of the sensor system in measuring fine deformations is evaluated in the experiments.
反射式触觉传感器与人体皮肤感觉的时空特性比较
DOI：
--
发表时间：
2009
期刊：
影响因子：
--
作者：
Satoshi Saga;Masashi Konyo;Koichiro Deguchi
通讯作者：
Koichiro Deguchi