Tactile Scanning for Detecting Micro Bump by Strain-sensitive Artificial Skin
Tactile Scanning for Detecting Micro Bump by Strain-sensitive Artificial Skin
复制标题
通过触觉扫描检测应变敏感人造皮肤的微凸块
DOI：
10.1109/lra.2021.3098473
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发表时间：
2021
影响因子：
5.2
通讯作者：
Hiromi Mochiyama
中科院分区：
文献类型：
--
作者：
Mitsuhito Ando;Ryusuke Tokumine;Toshinobu Takei;Hiromi Mochiyama
本文提出了一种扫描触觉传感器，它将变形成波形的应变片的信号输出放大，并对微小缺陷进行定位。在本研究中，我们实现了一种对微小隆起敏感的薄型扫描触觉传感器，可以作为人造皮肤使用。所提出的扫描传感器由简单的柔性结构和应变片组成。通过使用长应变计，可以缩短从板材上的大范围检测凸形所需的检查时间。然而，输出信号很弱，很难识别位置。放置在板材上的平行销增加了应变计的变形并放大了输出。我们进行了一项实验，将该传感器的输出信号与硅片上安装了应变片的触觉传感器的输出信号进行了比较。与硅触觉传感器相比，曲面触觉传感器的输出放大了约4.7倍。此外，小凸形(50英寸高)的输出信号放大了约4倍于简单应变计。我们可以很容易地从所提出的传感器的信号中检测到微小凸起。最后，结合所提出的两种传感器进行了微凸点位置检测实验。精确地识别了高度为50的凸微变形的位置。
This letter proposes a scanning tactile sensor that amplifies the signal output of a strain gauge deformed into a wave shape and fixes the position of micro defects. In this study, we realized a thin scanning tactile sensor that is sensitive to micro bumps and can be used as artificial skin. The proposed scanning sensor consists of a simple flexible structure and a strain gauge. The inspection time needed to detect a convex shape from a wide area on a plate can be shortened by using a long strain gauge. However, the output signal is weak, making it difficult to identify the position. Parallel pins placed on the sheet increase the deformation of the strain gauges and amplify the output. We conducted an experiment to compare the output signals of the proposed sensor and a tactile sensor with strain gauge attached to a silicon sheet. Compared with a silicon tactile sensor, the output of the proposed tactile sensor on a curved surface was amplified by about 4.7 times. In addition, the output signal for a small convex shape (50in height) was amplified about 4 times more than that of the simple strain gauge. We can easily detect micro bumps from the signal of the proposed sensor. Finally, we combined two of the proposed sensors to conduct an experiment to detect the position of micro bumps. The position of a convex micro deformation with a height of 50was precisely identified.