Bao Lusheng, Han Cheng, Li Guolin, Chen Jun, Wang Wenqiang, Yang Hao, Huang Xin, Guo Jiajie, Wu Hao
State Key Laboratory of Digital Manufacturing Equipment and Technology, Flexible Electronics Research Center, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China.
Intelligent Manufacturing Research Center, Guangdong Midea Air-Conditioning Equipment Co., Ltd, Foshan, China.
Soft Robot. 2023 Apr;10(2):336-344. doi: 10.1089/soro.2022.0014. Epub 2022 Aug 26.
Electronic skin for robotic tactile sensing has been studied extensively over the past years, yet practical applications of electronic skin for the grasping state monitoring during robotic manipulation are still limited. In this study, we present the fabrication and implementation of electronic skin sensor arrays for the detection of unstable grasping. The piezoresistive sensor arrays have the advantages of facile fabrication, fast response, and high reliability. With the tactile data from the sensor array, we propose two quantitative indicators, correlation coefficient and wavelet coefficient, to identify grasping with variable forces and slippage. Those two indicators reflect both time and frequency domain characteristics in the contact forces from the sensor array and can be obtained without large amount of calculation. We demonstrate the utility of this method under various conditions, the results indicate grasping with variable forces, and slippage can be distinguished by this method. The flexible sensor arrays are adopted for tactile sensing on a bionic hand, and the effectiveness of this method in detecting various grasping states has been verified. The electronic skin sensor array and the grasping state monitoring method are promising for applications in robotic dexterous manipulation.
在过去几年中，用于机器人触觉传感的电子皮肤已得到广泛研究，但电子皮肤在机器人操作过程中用于抓取状态监测的实际应用仍然有限。在本研究中，我们展示了用于检测不稳定抓取的电子皮肤传感器阵列的制造与实现。压阻式传感器阵列具有制造简便、响应迅速和可靠性高的优点。利用来自传感器阵列的触觉数据，我们提出了两个定量指标，即相关系数和小波系数，以识别不同力的抓取和滑动。这两个指标反映了来自传感器阵列的接触力在时域和频域的特征，并且无需大量计算即可获得。我们在各种条件下证明了该方法的实用性，结果表明不同力的抓取和滑动可以通过该方法区分。柔性传感器阵列被用于仿生手上的触觉传感，并且该方法在检测各种抓取状态方面的有效性已得到验证。电子皮肤传感器阵列和抓取状态监测方法在机器人灵巧操作中具有广阔的应用前景。
