Prototyping robot appearance, movement, and interactions using flexible 3D printing and air pressure sensors
Prototyping robot appearance, movement, and interactions using flexible 3D printing and air pressure sensors
复制标题
使用灵活的 3D 打印和气压传感器制作机器人外观、运动和交互的原型
DOI：
10.1109/roman.2012.6343723
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
J. Hodgins
中科院分区：
文献类型：
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作者：
Ronit Slyper;J. Hodgins
我们提出了一种使用柔性3D打印材料和模拟气压传感器快速制作交互式机器人皮肤原型的方法。我们描述了一组用于呈现不同操作（扭曲、弯曲、拉伸等）的示能表示的构建块。每个构建块都是一个中空的气室，可以打印为皮肤的一个组成部分，以轻松地在任何广泛的区域添加传感功能。通过操纵腔室引起的体积变化使用气压传感器捕获;传感器可以插入和移除，允许新设计的快速迭代。我们演示了我们的方法，原型三个机器人皮肤连接到Keepon Pro电枢。有了完全可操作的机器人皮肤，我们可以在更深的层次上研究外观，运动和交互之间的依赖关系，而不是以前在概念阶段。
We present a method for rapidly prototyping interactive robot skins using flexible 3D printed material and analogue air pressure sensors. We describe a set of building blocks for presenting affordances for different manipulations (twist, bend, stretch, etc.). Each building block is a hollow air chamber that can be printed as an integral part of the skin to easily add sensing capabilities over any broad area. Changes in volume caused by manipulating the chambers are captured using air pressure sensors; the sensors can be plugged in and removed, allowing rapid iteration on new designs. We demonstrate our method by prototyping three robot skins that attach to the Keepon Pro armature. With fully operational robot skins, we can study the dependencies between appearance, movement, and interactions at a deeper level than would previously be possible at the concept stage.