SBIR Phase I: Biomimetic Tactile Sensing for Industrial Robots

这个小企业创新研究第一阶段项目是开发一种新颖的触觉仿生技术，在这种技术中，所有传感器、连接和电路都受到保护，不受恶劣环境的影响。这个项目将把现有的设计改进为商业产品，它将测试传感器的转导特性，并将它们与信号处理电子设备集成到独立的模块中。提出的研究的直接目标是促进定制的触觉传感阵列的生产，可以结合到工业机器人的机电操纵。研究将包括设计、生产工程、原型制造和测试，以实现和展示作为工业传感器所需的灵敏度、动态范围和耐用性。初步工作的结果表明，该技术能够检测人类手指生理范围内的力，并检测与滑动一致的振动。测试灵敏度将是这项研究的一个关键组成部分。拟议活动的更广泛影响和商业潜力将是开发一种关键能力，使机器人能够在严格的装配线环境之外与物理世界进行交互。重要的是，本文开发的触觉传感器的设计、材料和制造方法应适合于支持大量生产和现场服务，用于制造各种商品的机器人。商业机器人可以通过自动化重复的任务，对制造业和服务业的社会产生多样化和巨大的影响。具有触觉反馈的机器人将能够识别和操纵各种各样的物体。拥有这种传感器的远程机器人将减少人们在危险环境中直接工作的需要，从而为社会带来好处。该奖项是根据2009年美国复苏和再投资法案（公法111-5）资助的。

This Small Business Innovative Research Phase I project is to develop a novel biomimetic technology for tactile sensing in which all sensors, connections and circuitry are protected from hostile environments.This project will refine existing designs into commercial products and it will test the transduction properties of the sensors and integrate them with signal processing electronics into self-contained modules. The immediate goal of the proposed research is to facilitate the production of customized tactile sensing arrays that can be incorporated onto mechatronic manipulanda of industrial robots. The research will include design, production engineering, prototype manufacturing and testing to achieve and demonstrate the sensitivity, dynamic range and durability required to perform as an industrial sensor. The results of the preliminary work show the ability of the technology to detect forces in the physiological range of a human finger, and to detect vibrations consistent with slip. Testing the sensitivity will be one key component of the research. The broader impacts and commercial potential of the proposed activities will be the development of a critical capability that will enable robots to interact with the physical world outside of rigid assembly-line environments. Importantly, the designs, materials and fabrication methods of the tactile sensors developed herein shall be suitable to support mass production and field servicing for robots involved in manufacturing of a wide range of goods. Commercial robots could have diverse and dramatic impact on society in manufacturing and service industries by automating repetitive tasks. Robots with tactile feedback will be able to identify and manipulate a wide range of objects. Telerobots with such sensors would offer benefits to society by reducing the need for people to work directly in dangerous environments.This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5).