2-D finite-element models of tactile sensors
2-D finite-element models of tactile sensors
复制标题
触觉传感器的二维有限元模型
DOI：
--
复制
发表时间：
1993
期刊：
影响因子：
--
通讯作者：
R. Ellis
中科院分区：
文献类型：
--
作者：
S. Ricker;R. Ellis
建议使用有限元方法对触觉传感器进行机械建模，该方法比传统技术更忠实地捕获几何形状和边界条件。有限元方法的主要优点是提高了模型的真实性。主要缺点是失去了简单性，特别是在提供用于快速可靠地反演转导应变以找到接触下传感器的新表面轮廓的模型方面。有限元方法的使用表明传感器变形的剪切分量是重建识别对象的几何形状的关键。然而，即使存在剪切应变，即使压痕物体非常不同，也有可能产生非常相似的触觉信号。这些加上非平面传感器几何形状的影响，给触觉传感带来了问题。<<ETX>>
It is proposed that tactile sensors be modeled mechanically with finite-element methods, which capture the geometry and boundary conditions more faithfully than classical techniques. The main advantage of finite-element methods is increased realism of the models. The main disadvantage is a loss of simplicity, especially with respect to providing a model for fast and reliable inversion of the transduced strains to find the new surface profile of the sensor under contact. The use of finite-element methods indicates that the shear components of the sensor deformation are key to reconstruction of the geometry of the identing object. Even with shear strain, however, it is possible to produce tactile signals that are very similar even when the indenting objects are very dissimilar. These, plus effects from nonplanar sensor geometries, pose problems for tactile sensing.<<ETX>>