Development of Soft Areal Tactile Sensors for Human-Interactive Robots
Development of Soft Areal Tactile Sensors for Human-Interactive Robots
复制标题
用于人机交互机器人的软区域触觉传感器的开发
DOI：
10.1109/icsens.2007.355596
复制
发表时间：
2006
期刊：
影响因子：
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通讯作者：
Zhiwei Luo
中科院分区：
文献类型：
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作者：
T. Mukai;M. Onishi;S. Hirano;Zhiwei Luo
人与人互动的机器人，如护理机器人，与人类共享环境并与它们互动，应该覆盖软性区域触觉传感器，以确保安全和灵活操作。我们正在通过在弹性物体中嵌入半导体压力传感器来开发这种触觉传感器。到目前为止，我们已经建立了一种制造平板触觉传感器的方法。为了提高触觉传感器的灵敏度，我们还提出了一种由软、硬弹性材料组成的弹性体结构。然而，尽管我们开发的传感器是灵活的，但在保持弯曲形状的同时将传感器固定在曲面上仍然是困难的。在本文中，我们提出了一种制作曲面触觉传感器的方法，以便将其安装在曲面机器人表面上。我们还报告了我们的触觉传感器和带有弯曲触觉传感器的机械臂的实验结果。
Human-interactive robots, such as for nursing, which share humans' environments with and interact with them, should be covered with soft areal tactile sensors for safety and dexterous manipulation. We are developing such tactile sensors by embedding semiconductor pressure sensors in an elastic body. We have so far established a method of fabricating flat tactile sensors. We have also proposed a structure of the elastic body consisting of soft and hard elastic materials for improving the sensitivity of our tactile sensors. However it was still difficult to fix the sensor on a curved surface while keeping a bent shape, though the sensor we developed was flexible. In the current paper, we propose a method of fabricating a curved tactile sensor in order to mount it on a curved robot surface. We also report experimental results of our tactile sensors and a robot arm with curved tactile sensors.
DOI：
10.1109/robot.2002.1014810
发表时间：
2002-05
期刊：
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
影响因子：
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作者：
T. Kanda;H. Ishiguro;T. Ono;M. Imai;R. Nakatsu
通讯作者：
T. Kanda;H. Ishiguro;T. Ono;M. Imai;R. Nakatsu