Active surface shaping for artificial skins
Active surface shaping for artificial skins
复制标题
人造皮肤的活性表面整形
DOI：
10.1109/icsmc.2011.6084107
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
S. Nahavandi
中科院分区：
文献类型：
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作者：
H. Abdi;Marzieh Asgari;S. Nahavandi
人造皮肤与天然皮肤相比表现出不同的机械性能。这个缺点使得与人造皮肤的物理相互作用不同于天然皮肤。提高机器人手和医疗应用中的人造皮肤的性能，在本文件中解决。这个想法是在人造皮肤中添加活动控件，以改善其动态或静态行为。这直接导致人造皮肤的更多交互性。为了实现这一目标，人工皮肤的分段线性各向异性模型。然后将用于控制目的的电容式MEMS致动器矩阵模型与人工皮肤模型耦合。接下来，通过电容MEMS致动器的控制来应用主动表面成形控制，该电容MEMS致动器在期望的时间内以零误差成形皮肤。仿真研究验证了使用MEMS驱动器的主动人工皮肤的想法。在模拟中，我们主动控制128个电容式微致动器的人工指尖。指尖在所需的时间内提供所需的形状，这意味着皮肤的动态得到改善。
Artificial skins exhibit different mechanical properties in compare to natural skins. This drawback makes physical interaction with artificial skins to be different from natural skin. Increasing the performance of the artificial skins for robotic hands and medical applications is addressed in the present paper. The idea is to add active controls within artificial skins in order to improve their dynamic or static behaviors. This directly results into more interactivity of the artificial skins. To achieve this goal, a piece-wise linear anisotropic model for artificial skins is derived. Then a model of matrix of capacitive MEMS actuators for the control purpose is coupled with the model of artificial skin. Next an active surface shaping control is applied through the control of the capacitive MEMS actuators which shapes the skin with zero error and in a desired time. A simulation study is presented to validate the idea of using MEMS actuator for active artificial skins. In the simulation, we actively control 128 capacitive micro actuators for an artificial fingertip. The fingertip provides the required shape in a required time which means the dynamics of the skin is improved.