Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation
Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation
复制标题
面向机器人连杆的大规模基于视觉的触觉感知：设计、建模与评估
DOI：
10.1109/tro.2020.3031251
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发表时间：
2020-11
影响因子：
7.8
通讯作者：
Lac Van Duong;V. A. Ho
中科院分区：
文献类型：
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作者：
Lac Van Duong;V. A. Ho
触觉使个人能够与环境进行身体互动，并更好地感知环境。触觉对机器人来说更为重要，因为配备了全面触觉的机器人可以更安全地与包括人类在内的周围环境互动。本文介绍了最近开发的一种大型触觉传感系统，称为TacLINK，它可以组装成一个全身触觉传感机器人手臂。所提出的系统是一个细长的结构，包括由连续的人造软皮肤覆盖的刚性透明骨骼。TacLINK的柔软表皮不仅提供触觉力反馈，还可以通过低压充气改变其形状和刚度。在与周围环境接触后，TacLINK通过其皮肤的三维（3-D）变形来感知触觉信息，这是由位于透明骨骼两端的立体摄像机跟踪其内壁上的一系列标记所产生的。建立了一个有限元模型（FEM）来描述作用力与标记位移之间的关系，允许同时导出详细的触觉信息，包括接触几何形状和作用力分布，而不考虑接触的数量。TacLINK具有尺寸可扩展、操作耐用、成本低等特点，是一种高性能的系统，可广泛应用于机械臂、假肢臂、类人机器人等的设计中。本文介绍了该系统的设计、建模、校准、实现和评估。
The sense of touch allows individuals to physically interact with and better perceive their environment. Touch is even more crucial for robots, as robots equipped with thorough tactile sensation can more safely interact with their surroundings, including humans. This article describes a recently developed large-scale tactile sensing system for a robotic link, called TacLINK, which can be assembled to form a whole-body tactile sensing robot arm. The proposed system is an elongated structure comprising a rigid transparent bone covered by continuous artificial soft skin. The soft skin of TacLINK not only provides tactile force feedback but can change its form and stiffness by inflation at low pressure. Upon contact with the surrounding environment, TacLINK perceives tactile information through the three-dimensional (3-D) deformation of its skin, resulting from the tracking of an array of markers on its inner wall by a stereo camera located at both ends of the transparent bone. A finite element model (FEM) was formulated to describe the relationship between applied forces and the displacements of markers, allowing detailed tactile information, including contact geometry and distribution of applied forces, to be derived simultaneously, regardless of the number of contacts. TacLINK is scalable in size, durable in operation, and low in cost, as well as being a high-performance system, that can be widely exploited in the design of robotic arms, prosthetic arms, and humanoid robots, etc. This article presents the design, modeling, calibration, implementation, and evaluation of the system.