Multilayered Center-of-Pressure Sensors for Robot Fingertips and Adaptive Feedback Control
Multilayered Center-of-Pressure Sensors for Robot Fingertips and Adaptive Feedback Control
复制标题
用于机器人指尖和自适应反馈控制的多层压力中心传感器
DOI：
10.1109/lra.2017.2723469
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发表时间：
2017
影响因子：
5.2
通讯作者：
Yosuke Suzuki
中科院分区：
文献类型：
--
作者：
T. Ikeda;Y. Harata;R. Nakamura;Yosuke Suzuki
这封信提出了一个片状的力传感器覆盖机器人的指尖。该传感器由柔性材料组成，可以根据指尖的形状进行自适应设计。当负载作用在传感器上时，可以检测接触位置以及法向力和切向力。实验结果表明，该传感器具有如下特点：接触位置与传感区域边界足够远时，可以高精度地估计出接触位置;法向力最大可达4 N，与接触位置无关;切向力可通过标定来估计，但灵敏度有待提高。这封信还提出了两个反馈控制规律的机器人手指安装建议的传感器。一种是保持接触位置和法向力对于目标对象恒定，另一种是即使对象在触摸时移动也保持滚动接触。通过运动实验验证了控制律的有效性。
This letter proposes a sheet-shaped force sensor for covering a robot fingertip. The sensor consists of flexible materials and can be adaptively designed to the shape of the fingertip. When a load acts on the sensor, the contact position and both normal and tangential forces can be detected. Experimental results show the sensor characteristics as follows: The contact position can be estimated in high accuracy if it is enough separated from the boundary of the sensing area, the normal force up to 4 N can be estimated independent with the contact position, and the tangential force can be estimated by calibration while the sensitivity remains to be improved. This letter also presents two feedback control laws of a robot finger mounted with the proposed sensor. One is to keep both a contact position and normal force at constant to a target object, and the other is to keep rolling contact even if the object moves while touching. The availability of the control laws are confirmed through motion experiments.