Development of a finger-mounted tactile sensor for surface irregularity detection
Development of a finger-mounted tactile sensor for surface irregularity detection
复制标题
开发用于表面不规则检测的手指安装触觉传感器
DOI：
10.1109/iros.2007.4399396
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
H. Fujimoto
中科院分区：
文献类型：
--
作者：
Yoshihiro Tanaka;Hideo Sato;H. Fujimoto
本文介绍了一种用于表面不规则检测的手指式触觉传感器的研制。该传感器由薄橡胶片和中间有空隙的硅橡胶组成。在橡胶片的中心，两个应变片以点对称的方式连接。使用者将他/她的手指放在传感器的硅橡胶上，并在物体表面滑动传感器。为了将传感器安装在手指上，传感器嵌入在棉质工作手套中。传感器通过获取两个应变片之间的差值来响应表面的不规则性。它对均匀表面没有反应。在此基础上，提出了利用小波变换对传感器输出信号进行表面不规则检测的实时信号处理方法。在平面和带小凸点的曲面上进行了实验。并在实验结果的基础上对传感器进行了改进。硅油片附着在传感器底部，作为粘性流体介质，改善传感器与物镜表面的不稳定接触。利用改进后的传感器进行了实验。结果表明，所提出的传感器能够检测表面的不规则性。
This paper presents the development of a finger-mounted tactile sensor for surface irregularity detection. The sensor is composed of a thin rubber sheet and a silicone rubber with the void in the center. On the center of the rubber sheet, two strain gauges are attached point-symmetrically. The user puts his/her finger on the silicone rubber of the sensor and slides the sensor over the objective surface. For mounting the sensor on the finger, the sensor is embedded in a cotton work glove. By obtaining difference between the two strain gauges, the sensor responds to the surface irregularity. It does not respond to the uniform surface. Furthermore, real-time signal processing utilizing the wavelet transform is proposed for detecting surface irregularity from sensor output signals. Experiments are carried out on the plane surface and curved surface with a small protrusion. Moreover, the sensor is improved on the basis of the experimental results. Silicone oil sheet is attached on the bottom of the sensor as a viscous fluid medium for improving unstable contact between the sensor and the objective surface. Using the improved sensor, experiments are carried out. The results show that the proposed sensor is capable of detecting the surface irregularity.