Integrated force and distance sensing using elastomer-embedded commodity proximity sensors
Integrated force and distance sensing using elastomer-embedded commodity proximity sensors
复制标题
使用弹性体嵌入式商品接近传感器进行集成力和距离感测
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
N. Correll
中科院分区：
文献类型：
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作者：
Radhen Patel;N. Correll
我们描述了一种力与距离组合传感器，它使用一个嵌入透明弹性体的商用红外距离传感器，可应用于机器人操作。在接触之前，该传感器作为距离传感器（0 - 10厘米）工作，而在接触之后，该材料还可作为弹簧，其受力与弹性体的压缩量成正比（0 - 5牛）。我们描述了它的工作原理和设计参数，包括聚合物厚度、混合比例和发射器电流，并表明传感器的响应在接触时有一个拐点，该拐点与物体的表面特性无关。然后我们展示了如何将两个各由八个传感器组成的阵列，分别安装在一个标准的巴克斯特夹爪上，用于（1）在抓取过程中改善夹爪的对齐，（2）确定与物体的接触点，以及（3）获取可用于确定可能抓取位置的粗略3D模型。
We describe a combined force and distance sensor using a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor (0–10 cm), whereas after contact the material doubles as a spring, with force proportional to the compression of the elastomer (0– 5 N). We describe its principle of operation and design parameters, including polymer thickness, mixing ratio, and emitter current, and show that the sensor response has an inflection point at contact that is independent of an object’s surface properties. We then demonstrate how two arrays of eight sensors, each mounted on a standard Baxter gripper, can be used to (1) improve gripper alignment during grasping, (2) determine contact points with objects, and (3) obtain crude 3D models that can serve to determine possible grasp locations.