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1.
遥控机器人触觉显示器   总被引:1,自引:1,他引:1  
谢凯年  罗忠  刘文江 《机器人》1997,19(1):74-80
操作遥控机器人时,希望将远方的触觉传感器的信息以触觉方式重现给操作者.这就需要触觉显示部件.本文介绍了触觉显示部件的原理,发展和分类,描述了人类的触觉生理机制,并对触觉显示部件在遥控机器人中的应用及发展前景作出评价  相似文献   

2.
基于胡须传感器的仿生机器人研究进展   总被引:4,自引:0,他引:4  
杨忠  樊琼剑 《机器人》2007,29(2):171-178
在简要分析动物胡须的感知机理及其电路实现原理的基础上,着重介绍了国内外仿生胡须机器人的研究现状.分析了仿生胡须传感器几个关键性的研究问题,如胡须材料的研制问题、胡须触觉传感器的探测精度和制造工艺问题、胡须触觉传感器特有的控制算法等问题,并给出了研究中存在的不足及其相应的发展趋势.  相似文献   

3.
对触觉传感器、触觉传感器阵列和触觉图象传感器的结构、工作原理以及发展趋势作了综合介绍.  相似文献   

4.
本文介绍了一种类似生物触须的水下作业机器人的触觉传感器的工作原理和结构,并对传感器信号进行处理,为机器人控制提供感觉信息.  相似文献   

5.
谢娜  秦岚 《传感器与微系统》2015,(2):106-108,128
针对目前触觉传感器研究中不能兼有柔韧性、多维力测量和热觉与触觉信号混杂等难题,设计了一种柔性多功能触觉/热觉传感器。介绍了该传感器的基本结构,并基于聚偏氟乙烯( PVDF)薄膜的特性建立了三维力并行测量的数学模型。触觉检测基于PVDF的压电效应,热觉检测基于PVDF的热释电效应。通过对触觉和热觉信号做比例减法运算,从而彻底区分触觉和热觉信号。  相似文献   

6.
多感知机器人夹持器设计   总被引:1,自引:0,他引:1  
介绍了一种具有力觉、触觉和位置信息的机器人夹持器设计。讨论了力觉传感器、触觉传感器和位置传感器的设计与实现,概述了夹持器的机械结构及其控制系统设计。  相似文献   

7.
触觉传感器可以探测到被接触物体的状态、图象、硬度等信息,是机器人操作和控制的基础。本文介绍了触觉传感器的信息构成、集成触觉传感器的阵列结构及信号处理系统,指出了在集成触觉传感器研究中亟待解决的问题。  相似文献   

8.
智能机器人通过视觉、触觉来识别周围的环境,工作对象和检测工作完成的情况。由于触觉装置控制简单,可直接检测物体的形状、光滑度、硬度等,因此触觉传感器是智能机器人的一个重要组成部分。 本文介绍三种国外的触觉传感器结构及其线路,在此基础上又探讨了光电触觉传感器以便为研制机器人的陈列触觉传感器奠定基础。  相似文献   

9.
多功能传感器   总被引:2,自引:0,他引:2  
多功能传感器可以同时测量几个物理量。简述多功能传感器的结构,并介绍了模拟人体皮肤的触觉传感器及其它几种多功能传感器。  相似文献   

10.
可拼接式全柔性电容触觉阵列传感器设计与实验   总被引:1,自引:0,他引:1  
针对现有机器人触觉传感器存在可穿戴性与可移植性差、不易维护及扩展等缺点,提出了一种可用于机器人仿生皮肤的全柔性电容式触觉传感器,并设计成12×12正方形触觉传感阵列和正六边形触觉模块两种可拼接式阵列结构.以炭黑填充硅橡胶作为电容式触觉传感器的弹性电介质,聚酰亚胺为柔性基体,有机硅导电银胶和金属膜为上下两柔性极板,共同构成压力敏感单元.介绍了电容式柔性触觉传感器的工作原理、结构设计及两种与之对应的电容触觉阵列无线数据采集与处理系统.实验结果表明,该全柔性电容式触觉阵列传感器及信号提取系统具有良好的稳定性与灵敏度,可用作人工皮肤实现全触觉感知.  相似文献   

11.
《Advanced Robotics》2013,27(4):381-397
This paper describes a comprehensive tactile sensor system which can cover wide areas of full-body robots. Based on design criteria which are introduced from requirements, we develop two types of tactile sensor elements. One is a multi-valued touch sensor which has multi-level pressure thresholds. It is capable of covering wide areas of robot surfaces. The other is made of soft, conductive gel, which has the advantage of compliance compared with other sheet-type tactile sensors. With these two types sensors, we develop the tactile sensor system on the full-body robot 'H4'. Details of the sensor system on the robot and some experiments using tactile information are described.  相似文献   

12.
This paper proposes and demonstrates a novel flexible tactile sensor for both normal and shear load detections. For the realization of the sensor, polyimide and polydimethylsiloxane are used as a substrate, which makes it flexible. Thin metal strain gauges, which are incorporated into the polymer, are used for measuring normal and shear loads. The salient feature of this tactile sensor is that it has no diaphragm-like structures. The unit tactile cell characteristics are evaluated against normal and shear loads. The fabricated tactile sensor can measure normal loads of up to 4 N, and the sensor output signals are saturated against loads of more than 4 N. Shear loads can be detected by different voltage drops in strain gauges. The device has no fragile structures; therefore, it can be used as a ground reaction force (GRF) sensor for balance control in humanoid robots. Four tactile unit sensors are assembled and placed in the four corners of the robots sole. By increasing bump dimensions, the tactile unit sensor can measure loads of up to 2 kgf. When loads are exerted on the sole, the GRF can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion systems.  相似文献   

13.
邵建东 《机器人》1990,12(6):26-32
本文就仿生型多功能触觉传感器——人工皮肤(Artificial skin)从理论上进行了深入的研究.进一步揭示了用PVF_2作敏感材料模拟“人工皮肤”的可行性.介绍了这种人工皮肤进行模式识别的方法,建立了压觉感受器的数学模型,并提出了一种能感受冷、热变化及对象物的硬度、光滑度的方案。并论证了方案的可行性.此外,就这一柔性系统的结构.在总结分析以前文献的基础上,提出了新的假设.  相似文献   

14.
15.
一种柔性三维力触觉传感器阵列的实现方法   总被引:1,自引:0,他引:1  
介绍了一种可安装在曲面上,对三维力进行检测的柔性三维力触觉传感器阵列的实现方法.首先采用MEMS技术制备三维力触觉传感器阵列,再将多个三维力触觉传感器单元分别通过倒装焊技术集成在已加工好的柔性电路板基底上,实现了传感器与信号处理电路的互连和传感器阵列(4×4)的柔性化.采用信号选通的多路信号采集方法简化了传感器阵列的信号处理电路.测试结果表明,柔性触觉传感器阵列可弯曲变形90°以上,检测三维力的分辨率达到0.1 N.  相似文献   

16.
In this paper, we propose a flexible three-axial tactile sensor array for measuring both normal and shear loads. The sensor array has 16 tactile sensor units based on piezoresistive strain gauge. It is constructed on a Kapton polyimide film using advanced polymer micromachining technologies. Thin metal strain gauges are embedded in polyimide to measure normal and shear loads, which are tested by applying forces from 0 to 1?N. The developed sensor unit had a hysteresis error of about 9% and repeatability error of about 1.31%. The sensor showed a good resulting image when pressed by a circle-shaped object with 10?N loads. The proposed flexible three-axial tactile sensor array can be applied in a curved or compliant surface that requires slip detection and flexibility, such as a robotic finger.  相似文献   

17.
This paper describes an on-line computer supported tactile sensor that can recognize complex industrial objects, identify a seam location, and track a three-dimensional seam trajectory for an arc welding robot. A one finger tactile sensor with two degrees of freedom is used. The supporting microcomputer system organizes and reduces the useful sensor data from digitized tactile information to a compact symbolic representation which is matched to a knowledge network. A beam search algorithm is used. The hierarchical organization provides that simple features are first detected on the object, and more complex features are examined later. Pruning of the search tree is based on a likelihood function.  相似文献   

18.
This paper presents the development of a sensor system for collecting tactile information. An active sensing system using the piezoelectric effect and the pyroelectric effect of a PVDF (Polyvinylidene fluoride) film is proposed. The active sensing is designed with human motions for tactile perception in mind. First, as the pretest, the distinction examination of six fabrics with different textures is carried out through human tactile perception. Next, the proposed sensor system is assembled. The sensor is composed of a PVDF film and a soft rubber. The surface of the sensor can be heated through temperature control. The sensor is attached on the tip of a robot finger driven by a piezoelectric bimorph strip and the root of the finger is mounted on a linear slider. Two kinds of active sensing are introduced. First, the heated sensor is contacted with an object and pyroelectric output signals are collected in order to obtain the information on tactile warmth. Next, the heated sensor is slid over the object and piezoelectric output signals are collected in order to obtain the information on feelings of vibration. Through the discussion about each sensing, three indexes representing features of the collected data are extracted and proposed as the sensor outputs for the evaluation of tactile sensation. The measurement using the sensor system is done on the samples used in the distinction examination. Comparison with the results shows that the sensor system extracts features on feelings of vibration and warmth.  相似文献   

19.
基于随机共振的机器人二值化触觉传感器降噪方法   总被引:2,自引:0,他引:2       下载免费PDF全文
机器人触觉传感器由于测量机理、敏感元件、维间耦合干扰、读取电路噪声等多方面的原因,存在着较强的干扰噪声,这种噪声对触觉信号的二值化过程带来了严重影响,本文首次利用非线性系统的随机共振现象,对机器人触觉传感器的二值化过程进行优化,从而实现二值化触觉传感器的降噪,实验结果证明了本方法的有效性。  相似文献   

20.
虚拟触觉传感器的仿真模型研究   总被引:3,自引:2,他引:1  
本文根据真实触觉传感器的原理,对虚拟触觉传感器的仿真模型进行了研究,以便 在机器人手抓拾取操作中揭示与材料特性相关的触觉信息瞬态特性,进而为在虚拟环境中从 事基于传感信息的机器人柔性操作、精密装配操作等提供良好的研究平台.  相似文献   

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