A tactile sensor for localizing transient events in manipulation

A tactile sensor for localizing transient events in manipulation
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用于定位操作中瞬态事件的触觉传感器

DOI：
10.1109/robot.1994.351253
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发表时间：
1994
期刊：
Proceedings of the 1994 IEEE International Conference on Robotics and Automation
影响因子：
--
通讯作者：
R. Howe
R. Howe
中科院分区：
--
文献类型：
--
作者：
J. Son;Eduardo A. Monteverde;R. Howe

文献摘要

被引文献

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本文提出了一种触觉传感器，提供瞬态事件信息的手指-物体界面。多元件应力率传感器由压电聚合物条组成，该压电聚合物条模制到覆盖机器人指尖的橡胶“皮肤”表面。这些压电元件提供对操纵控制重要的局部信息。我们提供的实验结果确认传感器的能力，检测三个参数。已检测到用于位置和力控制之间的信号转换的接触事件。检测局部皮肤曲率提供了关于接触形状和面积的信息。最后，已检测到初始滑移，这是由小的微滑移之前，总滑移。通过感测所有这些参数，多元件应力率传感器的实用性似乎是有希望的。&lt;<ETX>&gt;
This paper presents a tactile sensor that provides transient event information at the finger-object interface. The multi-element stress rate sensor consists of piezoelectric polymer strips moulded into the surface of the rubber "skin" covering the robot finger tip. These piezoelectric elements provide localized information important to manipulation control. We provide experimental results confirming the sensor's ability to detect three parameters. Contact events have been detected for signaling transitions between position and force control. Detecting local skin curvature provided information regarding contact shape and area. Finally, incipient slip, which is generated by small micro slips prior to gross slip, has been detected. By sensing all of these parameters, the utility of the multi-element stress rate sensor seems promising.<<ETX>>