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生物触觉一体化：一种用于机器人任务的柔顺多模态触觉传感模块。

BioIn-Tacto: A compliant multi-modal tactile sensing module for robotic tasks.

作者信息

Alves de Oliveira Thiago Eustaquio, Prado da Fonseca Vinicius

机构信息

Department of Computer Science, Faculty of Science and Environmental Studies, Lakehead University, Canada.

Department of Computer Science, Faculty of Science, Memorial University of Newfoundland, Canada.

出版信息

HardwareX. 2023 Sep 29;16:e00478. doi: 10.1016/j.ohx.2023.e00478. eCollection 2023 Dec.

DOI:10.1016/j.ohx.2023.e00478
PMID:37817880
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10560842/
Abstract

We present the open-source design and fabrication of a compliant multimodal tactile sensing module. The sensing module design presented here enables robotic end-effectors to sense contact properties like pressure and vibration and estimate a quaternion that represents the deformation due to contact. We elaborated the module's compliant structure fabrication process to use only 3D printed molds and a vacuum chamber, making it accessible to a broad range of roboticists. The process also allows production batches of up to five modules and easy deployment to robotic hands. The repository associated contains packages that support the Robot Operating System (ROS) to perform data collection and visualization. All hardware Computer-Aided Design (CAD) files and software source codes have been released and can be easily assembled and modified. The sensing module proposed in this paper uses off-the-shelf Microelectromechanical (MEMs) barometers and Magnetic, Angular Rate and Gravity (MARG) systems. Those components may be replaced by alternatives depending on the sensor's availability, constraints related to the module's size, or robotic application without prejudice to sensor functionality.

摘要

我们展示了一种柔顺多模态触觉传感模块的开源设计与制造。此处介绍的传感模块设计使机器人末端执行器能够感知诸如压力和振动等接触特性，并估计一个表示接触引起的变形的四元数。我们详细阐述了该模块柔顺结构的制造过程，该过程仅使用3D打印模具和真空室，使广大机器人专家都能够使用。该过程还允许生产多达五个模块的批次，并易于部署到机器人手上。相关存储库包含支持机器人操作系统（ROS）进行数据收集和可视化的软件包。所有硬件计算机辅助设计（CAD）文件和软件源代码均已发布，并且可以轻松组装和修改。本文提出的传感模块使用现成的微机电（MEMs）气压计和磁、角速率与重力（MARG）系统。根据传感器的可用性、与模块尺寸相关的限制或机器人应用，这些组件可以用其他替代组件替换，而不会影响传感器功能。

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本文引用的文献

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Trends and challenges in robot manipulation.机器人操作的趋势和挑战。
Science. 2019 Jun 21;364(6446). doi: 10.1126/science.aat8414.
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Estimating the Orientation of Objects from Tactile Sensing Data Using Machine Learning Methods and Visual Frames of Reference.使用机器学习方法和视觉参考框架从触觉传感数据估计物体的方向。
Sensors (Basel). 2019 May 17;19(10):2285. doi: 10.3390/s19102285.
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Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation.灵巧操作的力/触觉传感器的设计与校准。
Sensors (Basel). 2019 Feb 25;19(4):966. doi: 10.3390/s19040966.
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How robots are grasping the art of gripping.机器人如何掌握抓取的技巧。
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GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force.凝胶视觉：用于估计几何形状和力的高分辨率机器人触觉传感器。
Sensors (Basel). 2017 Nov 29;17(12):2762. doi: 10.3390/s17122762.
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Multimodal Bio-Inspired Tactile Sensing Module for Surface Characterization.用于表面表征的多模态生物启发式触觉传感模块
Sensors (Basel). 2017 May 23;17(6):1187. doi: 10.3390/s17061187.