动态触觉传感器的三维力学分析与补偿

建立了动态触觉传感器的三维力学模型 ,计算了触觉传感器表面弹性保护膜的低通效应值 ,利用反卷积算法部分补偿了这种低通效应 ,并对该算法进行了仿真实验。实验结果表明该算法的收敛性和接触力重构准确度能够满足实际应用的需要     

机器人触觉传感器力学建模与仿真

本文建立了动态触觉传感器的三维力学模型 ,计算了触觉传感器表面弹性保护膜的低通效应值 ,利用反卷积算法部分补偿了这种低通效应 ,并对该算法进行了仿真实验 .实验结果表明该算法的收敛性和接触力重构的精度能够满足实际应用的需要     

动态触觉传感器的三维力学分析与补偿

建立了动态触觉传感器的三维力学模型,计算了触觉传感器表面弹性保护膜的低通效应值,利用反卷积算法部分补偿了这种低通效应,并对该算法进行了仿真实验.实验结果表明该算法的收敛性和接触力重构准确度能够满足实际应用的需要.     

真正彻底的漆面保护方案——美国XPEL爱车宝顶级漆面保护膜

漆面保护膜的历史保护漆面的理想一直被消费者寄予很高的期待。在美国,漆面保护膜有近20年的消费历史,但从一开始,漆面保护膜的从业者就一直面临两大挑战:材料质量与施工难道。材料质量方面易发     

超大规模集成电路制造工艺中的光刻及掩模技术

本文着重介绍了超大规模集成电路生产工艺中的关键工艺掩模及光刻技术的国际国内概况，比较详细地叙述了1：1投影光刻技术和1：1与5：1Stepper掩模及光刻技术，并且介绍了为使光刻质量的提高，采用掩模保护膜技术的原理，对我国集成电路制造工艺的提高具有一定的参考作用。     

微机控制不锈钢表面保护膜涂制生产线

本文介绍了一种新型不锈钢表面保护膜自动涂制生产线的主要功能，结构不及工作原理。     

彻底的漆面保护方案——美国XPE爱车宝顶级漆面保护膜

保护漆面的理想一直被消费者寄予很高的期待。在美国，漆面保护膜有近20年的消费历史，但从一开始，漆面保护膜的从业者就一直面临两大挑战：材料质量与施工难道。材料质量方面易发黄，易断裂，易起翘，易开裂等；施工难度方面则是只能补丁式零贴，无法整车安装，且耗时长、浪费大、效益不佳，还需加热，影响材料性能。材料质量历经十几年的进步与突破已有了巨大的提升，     

广州家用游戏市场报价

离过年又接近一个月了。主机价格依然持平，但是周边就卖得火热，比如这一期的包包，各种游戏专题包和周年纪念包应有尽有。另外近期热门的就是保护膜，可能是大家都比较保守，对膜比较看重。     

没有了镀膜，CRT的电磁辐射会变大吗？

请问显示器表面那层镀膜有什么用处?我的显示器的那层保护膜不小心被擦掉了，这样的话辐射是否会加大?开关显示器时屏幕出现静电火花，显示屏也很容易吸附灰尘，请问应该如何解决?     

碟片保护小经验

电脑光盘、ＶＣＤ、ＬＤ、ＣＤ碟片使用 一段日子后，会出现无声、无图像、“马赛克”、死机等现象，这主要是以下两个原因造成的：一是碟片镜面污染、擦伤、划花及运用错误清洗方法而造成激光散射，因而不能正常读取信息；二是不注意保护碟片背面的“反射膜”，甚至习惯将碟片背朝下放置或挪动，造成反射膜破损、脱落，致使光束不能被反射，因而丢失信息或误码。为保护碟片，除平时遵循一般的保护方法外，刚买回来的新碟片应加贴一层透明的耐磨保护膜，这样碟片的铝膜将永远不会被损坏。这种耐磨保护膜如今市面已有售。 如果碟片划伤，该如…     

覆盖层材料对触觉传感器空间分辨率的影响

通过有限元计算 ,分析了弹性覆盖层材料对触觉传感器空间分辨率的影响 ,给出了一些覆盖层材料的选择准则。     

A sweeping mode integrated fingerprint sensor with 256 tactile microbeams

This paper reports recent advances in the development of a tactile fingerprint sensor made by a CMOS compatible front side bulk micromachining technology. This device enables the measurement of a fingerprint by the way of a mechanical scanning principle of the finger roughness. While this sensing principle has shown good results on a first prototype of reduced width, we present here the design, fabrication and test of a new sensor. This sensor contains 256 pressure sensitive microbeams for a total length of 1.28 cm and is fully integrated with analog and mixed signal electronics. In this paper we will detail the general working principle of the tactile fingerprint sensor and the two prototypes that have been manufactured and tested with a special focus on the electronic architecture and the test results of the second prototype.     

Development of soft and distributed tactile sensors and the application to a humanoid robot

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.     

面向ERT大面积触觉传感的自适应优化成像方法

在动态的非结构化环境中,有效地感知物理接触对于智能机器人安全交互至关重要。为了能够检测各种潜在的物理交互,需要在机器人表面部署大面积触觉传感器。目前,现有的大面积触觉传感器主要是通过传感阵列方式实现的,但是大规模部署传感元件在实际应用中存在巨大挑战。电阻层析成像(Electrical Resistance Tomography, ERT)技术作为一种连续传感方式,有望克服传统触觉传感阵列的一些限制。为此,利用ERT设计了一款新型的大面积触觉传感器。在此基础上,提出了一种基于自适应感兴趣区(Region of Interest, ROI)的图像重构算法,将图像重构限制在交互区域内,以提高传感器的空间分辨率。为了验证提出成像算法的有效性,通过仿真与物理实验对其进行了全面评估。实验验证了该算法可以有效提高触觉传感器在交互区域的空间分辨率,使其具有较高的测量精度。实验结果表明,该传感器的平均定位误差为0.823 cm,能够准确地识别8种不同交互模式,其精度高达98.6%。这一研究工作表明,该传感器为机器人具身触觉传感的实现提供了一个新的解决方案。     

A Polymer-Based Flexible Tactile Sensor for Both Normal and Shear Load Detections and Its Application for Robotics

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.     

Discriminability-based evaluation of transmission capability of tactile transmission systems

Tactile transmission systems deliver tactile information such as texture roughness to operators of robotic systems. Such systems are typically composed of tactile sensors that sense the physical characteristics of textures and tactile displays that present tactile stimuli to operators. One problem associated with tactile transmission systems is that when the system has a bottleneck, it is difficult to identify whether the tactile sensor, tactile display, or perceptual ability of the user is the cause because they have different performance criteria. To solve this problem, this study established an evaluation method that uses the discriminability index as an evaluation criterion. The method lets tactile sensors, displays, and human tactile perception be assessed in terms of the ability to transmit physical quantities; the same criterion is used for all three possible causes so that their abilities can be directly compared. The developed method was applied to a tactile-roughness transmission system (Okamoto et?al. 2009), and its tactile sensor was identified as the bottleneck of the system.     

虚拟触觉传感器的仿真模型研究

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．     

Hysteresis correction of tactile sensor response with a generalized Prandtl–Ishlinskii model

Tactile sensors are basically arrays of force sensors. Most of these force sensors are made of polymers or conductive rubber at lower cost, especially in the case of large area low-medium resolution tactile sensors. The consequence of such a decrease in cost and complexity is a worsening in performance. Hysteresis and drift are two main sources of error. Other tactile sensors do not present such limitations per se, however they are covered by a protective elastic layer in their final location and this covering can also lead to limitations. This paper presents a method to reduce the error caused by hysteresis in tactile sensors. This method is based on the generalized Prandtl–Ishlinskii model that has been applied to characterize hysteresis and saturation nonlinearities in smart actuators. The approximation error depends on several parameters as well as on the envelope functions that are chosen. Different alternatives are explored in the paper. Moreover, the model can also be inverted. This inverse model allows the force values to be obtained from the tactile sensor output while reducing the errors caused by hysteresis. In this paper the results of such an inversion are compared with other alternatives to register the data that do not compensate hysteresis. The average value of the hysteresis error measured in the experimental curve is 7.20% for an input range of 206?kPa, while this error is 1.51% following the compensation procedure. Since the implementation of tactile sensors usually results in the electronics being close to the raw sensor, and this hardware is also commonly based on a microcontroller or even on a FPGA, it is possible to add the algorithms presented in this paper to the set of compensation and calibration procedures to run in the smart sensor.     

基于FBG的机器人柔性触觉传感器

为了满足机器人与外界环境、对象发生接触及交互作用时的触觉感知需求,提出了一种基于光纤布拉格光栅（FBG）的柔性触觉传感器．该传感器采用3×3 FBG阵列作为柔性传感元件,聚二甲基硅氧烷（PDMS）材料构成双层柔性基体．介绍了传感器的传感原理并采用有限元方法对其弹性体进行力学仿真分析,基于标定实验平台完成该传感器的静态标定实验．传感器的空间分辨率为25mm,在10mm×10mm载荷施加单元下,对力的感知范围为0～7N,且传感器具有较好的线性度和灵敏度,重复性和一致性良好,力灵敏度为0.16nm/N．实验结果和分析研究都证明了柔性触觉传感器的可行性．该传感器与人体皮肤触感及结构极为相似,且布线简单、抗干扰能力强．     

内凹面触觉传感器设计与接触过程分析

设计一种用于微创手术（ MIS）的圆锥形内凹面触觉传感器,不仅可以分析接触力,辨别不同软组织的相对硬度,而且能得到软组织的材料参数,进而辨识组织和可能的组织病变。首先,建立传感器与弹性体间的接触模型;然后,根据弹性与粘弹性对应原理建立传感器与粘弹性体的接触模型,解算出剪切模量等参数信息;最后,通过实验验证了该传感器的可行性。