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Development of a robot skin with Human finger like softness capable of object location sensing and slip phase isolating

开发具有人类手指般柔软度的机器人皮肤，能够进行物体位置传感和滑动相位隔离

基本信息

批准号：
10450161
负责人：
YAMADA Yoji
金额：
$ 5.95万
依托单位：
Toyota Technological Institute
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 1999
项目状态：
已结题

项目摘要

The study concern development of a robot skin which is capable of accurately sensing the contact location of an object as well as securely isolating slip phases of an object in contact with the skin surface, taking advantage of the soft skin surface made of silicon gel and rubber. In the first study of contact object location sensing, we propose the structure of the robot skin with 25 of tiny reflector chips arranged in a matrix form on the skin surface, the principle of the location sensing ; both optically detecting the positions of the reflector chips which corresponds to the deformation of the skin surface of gel being pressed by an object and fitting the planes of the object from the deformation data assuming the object to be a convex polygon. The robot skin is characterized by that the skin surface is low cost and easily replacable, and the sensing performance is robust against any electromagnetic disturbance. We conducted some experiments for verifying the above principles as we … More ll as accurately detecting the position of the relfector chip from which the covariance matrix of detection errors was computer, and sensing the location of a wedge-shaped object. For evaluating the accuracy of the location sensing, we compared two methods of fitting both each object plane independently and all planes simultaneously using a Lagrangian multiplier under geometrical constraints. The second Lagrangian fitting method exhibited more accurate estimation results.On the other hand, the second part of the study concerns a vibrotactile sensor capable of generating impulsive high-frequency signals for exclusively distinguishing a slip phase from various other contact phases. We propose the structure of the vibotactile sensor with surface ridges and after analyzing the slip signals, conclude that the output signal originates in the free vibration of the ridge. By using a two-fingered robot hand with the sensor attached to its compliant endtips, we verify that the vibrotactile sensor has a slip phase isolating function and demonstrate object regrip control in real time.Finally, we made an attempt to integrating the above two sensing schemes on a soft robot skin made of gel material which both sensor structures were mounted on. Less

该研究涉及开发一种机器人皮肤，该皮肤能够准确地感测物体的接触位置，并利用由硅胶和橡胶制成的柔软皮肤表面，安全地隔离与皮肤表面接触的物体的滑动阶段。在接触式物体位置传感的研究中，首先提出了机器人皮肤的结构，即在皮肤表面以矩阵形式排列25个微小反射片，研究了位置传感的原理;光学检测与物体挤压凝胶的皮肤表面的变形相对应的反射器芯片的位置，假设物体是凸多边形。机器人皮肤的特点是皮肤表面成本低，易于组装，传感性能对任何电磁干扰都是鲁棒的。为了验证上述原理，我们进行了一些实验， ...更多信息如精确检测反射器芯片的位置，从该位置计算检测误差的协方差矩阵，以及感测楔形物体的位置。为了评估位置感测的准确性，我们比较了两种方法，分别独立地拟合每个物体平面和同时使用几何约束下的拉格朗日乘子拟合所有平面。第二拉格朗日拟合方法表现出更准确的估计结果。另一方面，研究的第二部分涉及的振动触觉传感器能够产生脉冲高频信号，专门区分从各种其他接触阶段的滑动阶段。提出了一种表面脊型振动触觉传感器的结构，并对传感器的滑动信号进行了分析，得出了传感器的输出信号来源于脊的自由振动的结论。通过一个两指机器人手的柔性末端安装传感器，我们验证了振动触觉传感器具有滑移相位隔离功能，并演示了真实的实时物体再抓取控制。最后，我们尝试将上述两种传感器结构集成在一个由凝胶材料制成的柔软机器人皮肤上。Less