Wang Yancheng, Chen Jianing, Mei Deqing
State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China.
Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China.
Micromachines (Basel). 2019 Aug 30;10(9):579. doi: 10.3390/mi10090579.
Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of limited discriminative information. This paper presents a novel method using the finite element modeling (FEM) and phase delay algorithm to investigate the flexible tactile sensor array for slippage and grooved surfaces discrimination when sliding over an object. For FEM modeling, a 3 × 3 tactile sensor array with a multi-layer structure is utilized. For sensor array sliding over a plate surface, the initial slippage occurrence can be identified by sudden changes in normal forces based on wavelet transform analysis. For the sensor array sliding over pre-defined grooved surfaces, an algorithm based on phase delay between different sensing units is established and then utilized to discriminate between periodic roughness and the inclined angle of the grooved surfaces. Results show that the proposed tactile sensor array and surface texture recognition method is anticipated to be useful in applications involving human-robotic interactions.
具有接触力感知和表面纹理识别能力的柔性触觉传感器对于日常使用中的机器人灵巧抓取和操作至关重要。与力感知不同，由于判别信息有限，表面纹理辨别在触觉传感器的开发中更具挑战性。本文提出了一种使用有限元建模（FEM）和相位延迟算法的新方法，以研究柔性触觉传感器阵列在物体上滑动时对滑动和带槽表面的辨别能力。对于有限元建模，使用了具有多层结构的3×3触觉传感器阵列。对于在平板表面上滑动的传感器阵列，基于小波变换分析，通过法向力的突然变化可以识别初始滑动的发生。对于在预定义带槽表面上滑动的传感器阵列，建立了一种基于不同传感单元之间相位延迟的算法，然后用于区分周期性粗糙度和带槽表面的倾斜角度。结果表明，所提出的触觉传感器阵列和表面纹理识别方法有望在涉及人机交互的应用中发挥作用。
