• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

用于协作机器人的气动触觉传感器。

A Pneumatic Tactile Sensor for Co-Operative Robots.

机构信息

Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China.

Beijing Key Lab of the Computational Intelligence and Intelligent System, Beijing 100124, China.

出版信息

Sensors (Basel). 2017 Nov 10;17(11):2592. doi: 10.3390/s17112592.

DOI:10.3390/s17112592
PMID:29125565
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5712939/
Abstract

Tactile sensors of comprehensive functions are urgently needed for the advanced robot to co-exist and co-operate with human beings. Pneumatic tactile sensors based on air bladder possess some noticeable advantages for human-robot interaction application. In this paper, we construct a pneumatic tactile sensor and apply it on the fingertip of robot hand to realize the sensing of force, vibration and slippage via the change of the pressure of the air bladder, and we utilize the sensor to perceive the object's features such as softness and roughness. The pneumatic tactile sensor has good linearity, repeatability and low hysteresis and both its size and sensing range can be customized by using different material as well as different thicknesses of the air bladder. It is also simple and cheap to fabricate. Therefore, the pneumatic tactile sensor is suitable for the application of co-operative robots and can be widely utilized to improve the performance of service robots. We can apply it to the fingertip of the robot to endow the robotic hand with the ability to co-operate with humans and handle the fragile objects because of the inherent compliance of the air bladder.

摘要

为了使先进机器人能够与人类共存和协作，迫切需要具有综合功能的触觉传感器。基于气袋的气动触觉传感器在人机交互应用中具有一些显著的优势。本文构建了一种气动触觉传感器，并将其应用于机器人手的指尖，通过气袋压力的变化来实现力、振动和滑移的感测，并利用传感器感知物体的柔软度和粗糙度等特征。气动触觉传感器具有良好的线性度、重复性和低滞后性，其尺寸和感测范围可以通过使用不同的材料以及不同厚度的气袋来定制。它的制作也简单且便宜。因此，气动触觉传感器适用于协作机器人的应用，可以广泛用于提高服务机器人的性能。我们可以将其应用于机器人的指尖，赋予机器人手与人类协作和处理易碎物体的能力，这是因为气袋具有固有顺应性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/97ec61d3792a/sensors-17-02592-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/2116fa22e03b/sensors-17-02592-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/b579a9785b6f/sensors-17-02592-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/6f483de840b8/sensors-17-02592-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/e504a8eb3252/sensors-17-02592-g004a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/5a050c95bb23/sensors-17-02592-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/c977e3ee9742/sensors-17-02592-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/d91d9f71999c/sensors-17-02592-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/e7cfedc5ad0e/sensors-17-02592-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/3bfe1bd6ec3b/sensors-17-02592-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/ac4b620b079b/sensors-17-02592-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/bef3282b5fc8/sensors-17-02592-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/97ec61d3792a/sensors-17-02592-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/2116fa22e03b/sensors-17-02592-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/b579a9785b6f/sensors-17-02592-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/6f483de840b8/sensors-17-02592-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/e504a8eb3252/sensors-17-02592-g004a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/5a050c95bb23/sensors-17-02592-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/c977e3ee9742/sensors-17-02592-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/d91d9f71999c/sensors-17-02592-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/e7cfedc5ad0e/sensors-17-02592-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/3bfe1bd6ec3b/sensors-17-02592-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/ac4b620b079b/sensors-17-02592-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/bef3282b5fc8/sensors-17-02592-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a3d0/5712939/97ec61d3792a/sensors-17-02592-g012.jpg

相似文献

1
A Pneumatic Tactile Sensor for Co-Operative Robots.用于协作机器人的气动触觉传感器。
Sensors (Basel). 2017 Nov 10;17(11):2592. doi: 10.3390/s17112592.
2
Large-Area and Low-Cost Force/Tactile Capacitive Sensor for Soft Robotic Applications.大面积、低成本力/触觉电容传感器，适用于软体机器人应用。
Sensors (Basel). 2022 May 27;22(11):4083. doi: 10.3390/s22114083.
3
Robot hand with soft tactile sensors and underactuated control.带有柔软触觉传感器和欠驱动控制的机器人手。
Annu Int Conf IEEE Eng Med Biol Soc. 2013;2013:4148-51. doi: 10.1109/EMBC.2013.6610458.
4
Transparent Pneumatic Tactile Sensors for Soft Biomedical Robotics.透明气动触觉传感器用于软体生物医学机器人。
Sensors (Basel). 2023 Jun 17;23(12):5671. doi: 10.3390/s23125671.
5
Tactile Object Recognition for Humanoid Robots Using New Designed Piezoresistive Tactile Sensor and DCNN.使用新型压阻式触觉传感器和 DCNN 进行人形机器人触觉物体识别
Sensors (Basel). 2021 Sep 8;21(18):6024. doi: 10.3390/s21186024.
6
Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor.集成光纤布拉格光栅应变传感器的机器人操纵器的触觉传感与控制
Front Neurorobot. 2019 Apr 5;13:8. doi: 10.3389/fnbot.2019.00008. eCollection 2019.
7
Development of multichannel soft tactile sensors having fingerprint structure.具有指纹结构的多通道柔性触觉传感器的研制。
Annu Int Conf IEEE Eng Med Biol Soc. 2014;2014:2496-9. doi: 10.1109/EMBC.2014.6944129.
8
GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force.凝胶视觉：用于估计几何形状和力的高分辨率机器人触觉传感器。
Sensors (Basel). 2017 Nov 29;17(12):2762. doi: 10.3390/s17122762.
9
A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics.基于磁学和混合刚柔电子的软触觉传感器。
Sensors (Basel). 2021 Jul 28;21(15):5098. doi: 10.3390/s21155098.
10
BaroTac: Barometric Three-Axis Tactile Sensor with Slip Detection Capability.巴罗塔克：具有滑动检测功能的气压三轴触觉传感器。
Sensors (Basel). 2022 Dec 30;23(1):428. doi: 10.3390/s23010428.

引用本文的文献

1
Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation.触觉感知技术：在农业食品操作中的趋势、挑战和展望。
Sensors (Basel). 2023 Aug 23;23(17):7362. doi: 10.3390/s23177362.
2
Human Somatosensory Processing and Artificial Somatosensation.人类体感处理与人工体感
Cyborg Bionic Syst. 2021 Jul 2;2021:9843259. doi: 10.34133/2021/9843259. eCollection 2021.
3
Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin.使用分布式触觉机器人皮肤测量人体部位的接近度。

本文引用的文献

1
A tactile sensor using single layer graphene for surface texture recognition.基于单层石墨烯的触觉传感器用于表面纹理识别。
Nanoscale. 2017 Jul 27;9(29):10248-10255. doi: 10.1039/c7nr03748a.
2
Multimodal Bio-Inspired Tactile Sensing Module for Surface Characterization.用于表面表征的多模态生物启发式触觉传感模块
Sensors (Basel). 2017 May 23;17(6):1187. doi: 10.3390/s17061187.
3
Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand.手指形状的凝胶力传感器：用于测量机器人手表面牵引力场的传感器。
Sensors (Basel). 2021 Mar 18;21(6):2138. doi: 10.3390/s21062138.
4
Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation.使用 3D 卷积神经网络进行机器人触诊的触觉物体识别。
Sensors (Basel). 2019 Dec 5;19(24):5356. doi: 10.3390/s19245356.
5
Tactile Robotic Skin with Pressure Direction Detection.具有压力方向检测功能的触觉机器人皮肤。
Sensors (Basel). 2019 Oct 29;19(21):4697. doi: 10.3390/s19214697.
IEEE Trans Haptics. 2010 Jan-Mar;3(1):37-47. doi: 10.1109/TOH.2009.47. Epub 2009 Oct 30.
4
Flexible Piezoelectric Tactile Sensor Array for Dynamic Three-Axis Force Measurement.用于动态三轴力测量的柔性压电触觉传感器阵列
Sensors (Basel). 2016 Jun 3;16(6):819. doi: 10.3390/s16060819.
5
A table-shaped tactile sensor for detecting triaxial force on the basis of strain distribution.一种基于应变分布的用于检测三轴力的表型触觉传感器。
Sensors (Basel). 2013 Nov 28;13(12):16347-59. doi: 10.3390/s131216347.
6
Artificial Roughness Encoding with a Bio-inspired MEMS- based Tactile Sensor Array.基于仿生 MEMS 的触觉传感器阵列的人工粗糙度编码。
Sensors (Basel). 2009;9(5):3161-83. doi: 10.3390/s90503161. Epub 2009 Apr 27.
7
Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task.用于抓握和提起任务的生物机电一体化机器人手的仿生传感技术
Brain Res Bull. 2008 Apr 15;75(6):785-95. doi: 10.1016/j.brainresbull.2008.01.017. Epub 2008 Feb 20.
8
Mechanisms for force adjustments to unpredictable frictional changes at individual digits during two-fingered manipulation.在双指操作过程中，针对单个手指不可预测的摩擦变化进行力调整的机制。
J Neurophysiol. 1998 Oct;80(4):1989-2002. doi: 10.1152/jn.1998.80.4.1989.