Deformable sensors for soft robot by electrical impedance tomography
Deformable sensors for soft robot by electrical impedance tomography
复制标题
电阻抗断层扫描软体机器人变形传感器
DOI：
10.1109/robio.2015.7418903
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
K.,
中科院分区：
文献类型：
--
作者：
Visentin;F.;Suzuki;K.,
软机器人现在是机器人界的一个既定趋势。它们由柔软的可变形材料制成，使它们能够像生物系统一样轻松适应非结构化环境。为了控制这种能力，需要返回关于其空间配置和来自环境的反馈的信息的传感器。常见的解决方案包括使用传统类型的传感器，其可以限制可变形材料的能力。必须开发不同类型的传感器，以便利用机器人结构所用材料的所有特征。在本文中，第一步的一种新型的传感器，使传感能力，而不限制软材料的变形性能的发展。该传感器基于一种称为电阻抗断层扫描的成像技术。
Soft robots are by now an established trend in the robotic community. They are made by soft, deformable materials that enable them to easily conform to unstructured environment like biological systems do. In order to control this ability, sensors that return information about their spatial configuration and feedbacks from the environments are needed. Common solutions consist in the use of traditional type of sensors that can limit the capabilities of the deformable material. A different type of sensor has to be developed in order to exploit all the features of the material used for the robot structure. In this paper a first step toward the development of a novel type of sensor that enables sensing capabilities without limiting the deformation property of the soft material is presented. The sensor is based on a imaging technique known as Electrical Impedance Tomography.