Yahud S, Dokos S, Morley J W, Lovell N H
Graduate School of Biomedical Engineering, University of New South Wales, NSW, Australia.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:2300-3. doi: 10.1109/IEMBS.2009.5335048.
We describe a tactile sensor for a robotic hand, based on the mechanoreceptors in the glabrous skin of the human hand to replicate the sensory function of both slow adapting and fast adapting receptors. Strain gauges are used for the slow adapting receptors, and polyvinylidene fluoride (PVDF) film was used to replicate the function of the fast adapting receptors. One unit sensor consisted of four strain gauges and a single PVDF film, embedded beneath a square protrusion. The protrusion helped localize the applied force onto the region or 'receptive field' of the sensing unit. Strain gauges were orientated to enable the unit sensor to identify the tri-axial force components. Multiple linear regression was used to predict the components of force. The regression model with interaction terms gave good prediction with mean percentage errors of less than 15% for each force component.
我们描述了一种用于机器人手的触觉传感器，它基于人类手部无毛皮肤中的机械感受器，以复制慢适应和快适应感受器的感觉功能。应变片用于慢适应感受器，聚偏二氟乙烯（PVDF）薄膜用于复制快适应感受器的功能。一个单元传感器由四个应变片和一片PVDF薄膜组成，嵌入一个方形凸起下方。该凸起有助于将施加的力定位到传感单元的区域或“感受野”上。应变片的取向使单元传感器能够识别三轴力分量。使用多元线性回归来预测力的分量。带有交互项的回归模型给出了良好的预测结果，每个力分量的平均百分比误差小于15%。
