Technical Mechanics Group, Technische Universität Ilmenau, 98693 Ilmenau, Germany.
Institute of Mathematics, Technische Universität Ilmenau, 98693 Ilmenau, Germany.
Sensors (Basel). 2021 Feb 24;21(5):1572. doi: 10.3390/s21051572.
Just as the sense of touch complements vision in various species, several robots could benefit from advanced tactile sensors, in particular when operating under poor visibility. A prominent tactile sense organ, frequently serving as a natural paragon for developing tactile sensors, is the vibrissae of, e.g., rats. Within this study, we present a vibrissa-inspired sensor concept for 3D object scanning and reconstruction to be exemplarily used in mobile robots. The setup consists of a highly flexible rod attached to a 3D force-torque transducer (measuring device). The scanning process is realized by translationally shifting the base of the rod relative to the object. Consequently, the rod sweeps over the object's surface, undergoing large bending deflections. Then, the support reactions at the base of the rod are evaluated for contact localization. Presenting a method of theoretically generating these support reactions, we provide an important basis for future parameter studies. During scanning, lateral slip of the rod is not actively prevented, in contrast to literature. In this way, we demonstrate the suitability of the sensor for passively dragging it on a mobile robot. Experimental scanning sweeps using an artificial vibrissa (steel wire) of length 50 mm and a glass sphere as a test object with a diameter of 60 mm verify the theoretical results and serve as a proof of concept.
就像触觉在各种物种中补充视觉一样，几个机器人可以从先进的触觉传感器中受益，特别是在能见度差的情况下。一种突出的触觉器官，经常作为开发触觉传感器的自然典范，是老鼠等的触须。在本研究中，我们提出了一种受触须启发的传感器概念，用于 3D 物体扫描和重建，以便在移动机器人中进行示例应用。该设置由附接到 3D 力-扭矩传感器（测量设备）的高度灵活的杆组成。扫描过程通过相对于物体平移移动杆的底座来实现。因此，杆在物体表面上扫过，经历大的弯曲挠度。然后，评估杆底部的支撑反应以进行接触定位。通过提出一种理论上生成这些支撑反应的方法，我们为未来的参数研究提供了重要基础。在扫描过程中，与文献相反，不会主动防止杆的横向滑动。通过这种方式，我们证明了传感器适用于被动地将其拖到移动机器人上。使用长度为 50mm 的人工触须（钢丝）和直径为 60mm 的玻璃球作为测试对象进行的实验扫描验证了理论结果，并作为概念验证。
