Warsaw University of Technology, Faculty of Mechatronics, Institute of Automatic Control and Robotics, A. Boboli 8 Street, 02-525 Warsaw, Poland.
Warsaw University of Technology, Faculty of Mechatronics, Institute of Metrology and Biomedical Engineering, A. Boboli 8 Street, 02-525 Warsaw, Poland.
Sensors (Basel). 2022 Aug 16;22(16):6122. doi: 10.3390/s22166122.
The paper describes the semi-automatised calibration procedure of an electronic skin comprising screen-printed graphene-based sensors intended to be used for robotic applications. The variability of sensitivity and load characteristics among sensors makes the practical use of the e-skin extremely difficult. As the number of active elements forming the e-skin increases, this problem becomes more significant. The article describes the calibration procedure of multiple e-skin array sensors whose parameters are not homogeneous. We describe how an industrial robot equipped with a reference force sensor can be used to automatise the e-skin calibration procedure. The proposed methodology facilitates, speeds up, and increases the repeatability of the e-skin calibration. Finally, for the chosen example of a nonhomogeneous sensor matrix, we provide details of the data preprocessing, the sensor modelling process, and a discussion of the obtained results.
本文描述了一种电子皮肤的半自动校准程序，该电子皮肤由用于机器人应用的丝网印刷石墨烯基传感器组成。传感器之间灵敏度和负载特性的可变性使得电子皮肤的实际应用变得非常困难。随着形成电子皮肤的有源元件数量的增加，这个问题变得更加严重。本文描述了多个电子皮肤阵列传感器的校准程序，这些传感器的参数并不均匀。我们描述了如何使用配备参考力传感器的工业机器人来自动化电子皮肤的校准程序。所提出的方法简化了电子皮肤的校准过程，加快了校准速度，并提高了校准的可重复性。最后，对于非均匀传感器矩阵的示例，我们提供了数据预处理、传感器建模过程的详细信息，并讨论了得到的结果。
