The Relationship Between Incremental Changes in Orientation and Slip Speed Estimation Using the Fingerprint Effect
The Relationship Between Incremental Changes in Orientation and Slip Speed Estimation Using the Fingerprint Effect
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DOI：
10.1109/iros47612.2022.9981657
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Robert Kovenburg;Andrew Slezak;Chase George;R. Gale;B. Aksak
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文献类型：
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作者：
Robert Kovenburg;Andrew Slezak;Chase George;R. Gale;B. Aksak
指纹效应，其中振动产生的频率与表面在指纹脊上滑动的速度和这些脊的周期有关，已经研究用于滑动检测和纹理识别。在这里，我们使用了一个简单的生物传感器，具有平行的，直的，像指纹一样的脊和一个单一的铁电陶瓷传感器，以表明指纹效应是依赖于方向的，如果方向已知，它可以用来估计滑移速度。我们在滑动速度为15mm /s， 20mm /s和25mm /s，方向为0°- 90°时获得的结果清楚地证明了这种相关性。此外，我们利用我们的结果运行仿真，使用MATLAB软件，实时滑移速度估计。仿真结果表明，指纹效应可以用于实时滑速估计。
The fingerprint effect, wherein vibrations are produced with frequencies related to the speed of a surface sliding across fingerprint ridges and the period of those ridges, has been studied for use in both slip detection and texture recognition. Here, we use a simple bioinspired sensor with parallel, straight, fingerprint-like ridges and a single ferroelectric ceramic transducer to show that the fingerprint effect is orientation dependent and that, if the orientation is known, it can be used to estimate slip speed. Our results, obtained at sliding speeds of 15 mm/s, 20 mm/s, and 25 mm/s and orientations from 0° – 90°, clearly demonstrate this dependence. Additionally, we use our results to run a simulation, using MATLAB software, of real-time slip speed estimation. The simulation shows that the fingerprint effect can be used for real-time slip-speed estimation.