Xu Peng, Zheng Jiaxi, Liu Jianhua, Liu Xiangyu, Wang Xinyu, Wang Siyuan, Guan Tangzhen, Fu Xianping, Xu Minyi, Xie Guangming, Wang Zhong Lin
Dalian Key Laboratory of Marine Micro/Nano Energy and Self-powered Systems, Marine Engineering College, Dalian Maritime University, Dalian 116026, China.
School of Information Science and Technology, Dalian Maritime University, Dalian 116026, China.
Research (Wash D C). 2023;6:0062. doi: 10.34133/research.0062. Epub 2023 Feb 27.
The growth of underwater robotic applications in ocean exploration and research has created an urgent need for effective tactile sensing. Here, we propose an underwater 3-dimensional tactile tensegrity (U3DTT) based on soft self-powered triboelectric nanogenerators and deep-learning-assisted data analytics. This device can measure and distinguish the magnitude, location, and orientation of perturbations in real time from both flow field and interaction with obstacles and provide collision protection for underwater vehicles operation. It is enabled by the structure that mimics terrestrial animals' musculoskeletal systems composed of both stiff bones and stretchable muscles. Moreover, when successfully integrated with underwater vehicles, the U3DTT shows advantages of multiple degrees of freedom in its shape modes, an ultrahigh sensitivity, and fast response times with a low cost and conformability. The real-time 3-dimensional pose of the U3DTT has been predicted with an average root-mean-square error of 0.76 in a water pool, indicating that this developed U3DTT is a promising technology in vehicles with tactile feedback.
水下机器人应用在海洋探索与研究中的不断发展，使得对有效触觉传感产生了迫切需求。在此，我们提出一种基于软自供电摩擦纳米发电机和深度学习辅助数据分析的水下三维触觉张拉整体结构（U3DTT）。该装置能够实时测量并区分来自流场以及与障碍物相互作用的扰动的大小、位置和方向，并为水下航行器操作提供碰撞保护。它由模仿陆地动物由坚硬骨骼和可拉伸肌肉组成的肌肉骨骼系统的结构实现。此外，当与水下航行器成功集成时，U3DTT在其形状模式下具有多自由度优势、超高灵敏度、快速响应时间，且成本低、贴合性好。在水池中，U3DTT的实时三维姿态预测平均均方根误差为0.76，这表明这种已开发的U3DTT在具有触觉反馈的航行器中是一项很有前景的技术。
