O'Neill John, Lu Jason, Dockter Rodney, Kowalewski Timothy
Department of Mechanical Engineering, University of Minnesota, 111 Church St SE, Minneapolis, MN 55401, USA.
Sensors (Basel). 2018 Mar 23;18(4):953. doi: 10.3390/s18040953.
The design and validation of a continuously stretchable and flexible skin sensor for collaborative robotic applications is outlined. The skin consists of a PDMS skin doped with Carbon Nanotubes and the addition of conductive fabric, connected by only five wires to a simple microcontroller. The accuracy is characterized in position as well as force, and the skin is also tested under uniaxial stretch. There are also two examples of practical implementations in collaborative robotic applications. The stationary position estimate has an RMSE of 7.02 mm, and the sensor error stays within 2.5 ± 1.5 mm even under stretch. The skin consistently provides an emergency stop command at only 0.5 N of force and is shown to maintain a collaboration force of 10 N in a collaborative control experiment.
本文概述了一种用于协作机器人应用的连续可拉伸且灵活的皮肤传感器的设计与验证。该皮肤由掺杂有碳纳米管的聚二甲基硅氧烷（PDMS）皮肤以及添加的导电织物组成，仅通过五根导线连接到一个简单的微控制器。其精度在位置和力方面都有表征，并且该皮肤还在单轴拉伸下进行了测试。文中还给出了协作机器人应用中实际实现的两个示例。静止位置估计的均方根误差（RMSE）为7.02毫米，即使在拉伸状态下，传感器误差也保持在2.5±1.5毫米范围内。该皮肤在仅0.5牛的力时就能持续提供紧急停止命令，并且在协作控制实验中显示能维持高达10牛的协作力。
