Yahud S, Dokos S, Morley J W, Lovell N H
Graduate School of Biomedical Engineering, University of New South Wales, Australia.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:5760-3. doi: 10.1109/IEMBS.2010.5627847.
A tactile sensor for robotic applications is described, inspired by the mechanoreceptors in the glabrous skin of the human hand, in order to replicate the sensory function of both slow adapting and fast adapting mechanoreceptors. Strain gauges were used for the slow adapting receptors, and polyvinylidene fluoride (PVDF) film was used to replicate the fast adapting receptors. A finite element analysis (FEA) model was used to predict the output response of the PVDF film, and verified experimentally. The PVDF film was observed to respond linearly to mechanical stress and exhibited increased gain at higher frequencies. "Ramp and hold" stimuli were applied to the tactile unit sensor, and the PVDF film only responded at contact onset and offset, similar to the response of fast adapting receptors. The PVDF acted as a dynamic sensing element for the proposed tactile sensor unit.
本文描述了一种受人类手部无毛皮肤中机械感受器启发的用于机器人应用的触觉传感器，旨在复制慢适应和快适应机械感受器的传感功能。慢适应感受器采用应变片，快适应感受器则用聚偏二氟乙烯（PVDF）薄膜复制。使用有限元分析（FEA）模型预测PVDF薄膜的输出响应，并通过实验进行了验证。观察到PVDF薄膜对机械应力呈线性响应，且在较高频率下增益增加。对触觉单元传感器施加“斜坡和保持”刺激时，PVDF薄膜仅在接触开始和结束时做出响应，类似于快适应感受器的响应。PVDF充当了所提出的触觉传感器单元的动态传感元件。
