Dvořák Nathan, Fazeli Nima, Ku Pei-Cheng
Department of Electrical Engineering and Computer Science, University of Michigan, 1301 Beal Ave., Ann Arbor, MI 48109-2122, USA.
Department of Robotics, University of Michigan, 2505 Hayward St., Ann Arbor, MI 48109-2122, USA.
Micromachines (Basel). 2023 Apr 24;14(5):916. doi: 10.3390/mi14050916.
An experiment was performed to calibrate the capability of a tactile sensor, which is based on gallium nitride (GaN) nanopillars, to measure the absolute magnitude and direction of an applied shear force without the need for any post-processing of data. The force's magnitude was deduced from monitoring the nanopillars' light emission intensity. Calibration of the tactile sensor used a commercial force/torque (F/T) sensor. Numerical simulations were carried out to translate the F/T sensor's reading to the shear force applied to each nanopillar's tip. The results confirmed the direct measurement of shear stress from 3.71 to 50 kPa, which is in the range of interest for completing robotic tasks such as grasping, pose estimation, and item discovery.
进行了一项实验，以校准基于氮化镓（GaN）纳米柱的触觉传感器测量所施加剪切力的绝对大小和方向的能力，而无需对数据进行任何后处理。通过监测纳米柱的发光强度来推断力的大小。触觉传感器的校准使用了商用的力/扭矩（F/T）传感器。进行了数值模拟，以将F/T传感器的读数转换为施加到每个纳米柱尖端的剪切力。结果证实了从3.71到50 kPa的剪切应力的直接测量，这处于完成诸如抓取、姿态估计和物品发现等机器人任务所关注的范围内。
