Soft Tactile Sensors Having Two Channels With Different Slopes for Contact Position and Pressure Estimation
Soft Tactile Sensors Having Two Channels With Different Slopes for Contact Position and Pressure Estimation
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软触觉传感器具有两个不同斜率的通道，用于接触位置和压力估计
DOI：
10.1109/lsens.2023.3268888
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发表时间：
2023
影响因子：
2.8
通讯作者：
Hosoda Koh
中科院分区：
文献类型：
--
作者：
Ohashi Hirono;Yasuda Takuto;Kawasetsu Takumi;Hosoda Koh
触觉信息对于物体的操纵和抓取通常是重要的。通常，柔软的手和触觉传感器可以被动地变形并有助于稳定的抓握。特别是，使用导电材料作为传感器元件的软触觉传感器可以获取接触信息，包括接触位置和压力;然而，该触觉信息不能被分类。本研究试图分类触觉信息的基础上导电材料的安排。为此，我们开发了一种柔软的触觉传感器组成的硅橡胶体与两个通道填充有导电材料。两个通道被布置成使得它们从顶视图平行，并且从侧视图以不同的斜率成角度。我们的实验数据表明，平行于通道的接触位置可以根据两个通道中的电阻变化来确定，而压力可以通过基于接触位置的估计值的模型来获得。
Tactile information is usually important for object manipulation and grasping. Typically, soft hands and tactile sensors can deform passively and contribute to stable grasping. In particular, soft tactile sensors that use conductive materials as sensor elements can acquire contact information, including the contact position and pressure; however, this tactile information cannot be classified. This study attempts to classify tactile information based on conductive material arrangements. To this end, we develop a soft tactile sensor composed of a silicone rubber body with two channels filled with a conductive material. The two channels are arranged so that they are parallel from the top view and angled with different slopes from the side view. Our experimental data reveal that the contact position parallel to the channels can be determined based on the resistance changes in the two channels, whereas the pressure can be obtained through a model based on the estimated value of the contact position.