Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task
Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task
复制标题
DOI：
10.1016/j.brainresbull.2008.01.017
复制
发表时间：
2008-04-15
影响因子：
3.8
通讯作者：
Carrozza, M. C.
中科院分区：
文献类型：
--
作者：
Edin, B. B.;Ascari, L.;Carrozza, M. C.
从许多神经生理学研究中已经得出结论，人类依赖于检测在抓握、提升和替换物体时发生的离散机械事件，即，在一个典型的操纵任务中。这样的事件表示在诸如物体接触、抬离等的演变的操纵任务的阶段之间的转换，并且似乎提供了任务的顺序控制以及任务的校正和参数化所需的关键信息。我们已经传感的生物机电拟人的手，目标是检测这样的机械瞬变。所开发的传感器被设计为专门提供与任务相关的离散事件的信息，而不是模仿它们的生物对应物。为了实现这一目标，我们开发了（1）一种接触传感器，可以应用于机器人手指的表面，并显示出对压痕的敏感性和与人类无毛皮肤相当的空间分辨率，以及（2）一种灵敏的低噪声三轴力传感器，嵌入在机器人指尖中，并显示出覆盖生物触觉传感器中观察到的范围的频率响应。我们描述了这些传感器的设计和制造、它们的感官特性，并展示了抓取和举起任务期间传感器的代表性记录。我们展示了如何结合使用这两个传感器是能够提供信息的关键机械事件在这样的任务。我们讨论的重要性，传感器的手作为一个测试床，低层次的把握控制器和假肢设备的功能感觉反馈的发展。(c)2008年爱思唯尔公司All rights reserved.
It has been concluded from numerous neurophysiological studies that humans rely on detecting discrete mechanical events that occur when grasping, lifting and replacing an object, i.e., during a prototypical manipulation task. Such events represent transitions between phases of the evolving manipulation task such as object contact, lift-off, etc., and appear to provide critical information required for the sequential control of the task as well as for corrections and parameterization of the task. We have sensorized a biomechatronic anthropomorphic hand with the goal to detect such mechanical transients. The developed sensors were designed to specifically provide the information about task-relevant discrete events rather than to mimic their biological counterparts. To accomplish this we have developed (1) a contact sensor that can be applied to the surface of the robotic fingers and that show a sensitivity to indentation and a spatial resolution comparable to that of the human glabrous skin, and (2) a sensitive low-noise three-axial force sensor that was embedded in the robotic fingertips and showed a frequency response covering the range observed in biological tactile sensors. We describe the design and fabrication of these sensors, their sensory properties and show representative recordings from the sensors during grasp-and-lift tasks. We show how the combined use of the two sensors is able to provide information about crucial mechanical events during such tasks. We discuss the importance of the sensorized hand as a test bed for low-level grasp controllers and for the development of functional sensory feedback from prosthetic devices. (c) 2008 Elsevier Inc. All rights reserved.