新型三维力觉传感器的设计与分析

提出了一种基于PVDF膜的新型三向力触觉传感技术,阐述了触觉传感头的设计思想和基本结构,并从原理上进行了分析,得到了计算空间三向力的公式,为实现新型的能用于智能机器人触觉的力传感系统打下了基础。     

糖尿病合并慢性骨髓炎保肢治疗

触觉和滑觉检测是机器人实现物体抓取的关键环节,尤其是滑觉检测对实现软抓取尤为重要.该文设计了一种同时具有触觉和滑觉检测的新型触滑觉传感器.触觉检测基于聚偏氟乙烯(PVDF)膜的三向力传感技术,通过分析得到了计算空间三向力的公式;滑觉检测基于光电原理,将滑动引起的微小振动信号转化为光电信号.通过大量仿真试验得出了触觉、滑觉响应曲线,并确定了判定滑动信号的阈值.     

基于压电式新型三维力传感器的设计

从生物压电效应和人体“皮肤效应”原理出发，提出了一种基于压电式的新型三向力检测方法，阐述了三向力传感器的设计思想和基本组成结构，并从理论上对传感器工作原理进行了检测，推导了计算空间三向力大小和方向的公式。该三向力传感器不但可以用于机械空间力的测量，且还可用于机器人表皮的传感，为实现新型的智能机器人触觉力传感器系统提供了一种新的方法。     

基于光纤光栅的软体机器人末端力测量方法研究

手术机器人的末端操作力测量是实现机器人精准控制的关键,对保证手术操作的安全性至关重要。文中针对微创手术软体机器人末端三维力测量的实际需求,提出一种基于光纤光栅的微创软体机器人末端三维力的测量方法。基于光纤光栅传感原理,分析光纤传感器植入在软体机器人中的传感特性,建立基于最小二乘法线性标定和基于伯恩斯坦多项式非线性补偿的软体机器人末端力解耦模型,研究光纤光栅中心波长漂移量和软体机器人末端三维力之间的关系。并通过实验测试和对比分析验证了基于线性标定和非线性解耦算法的光纤传感软体机器人末端力测量性能研究结果表明:光纤光栅传感的可重复性平均为1.5 pm,末端力在XYZ三个方向上的测量精度误差均低于满量程的5%,且残差分布大部分集中在可靠区间,具有良好的重复性。所提出的基于光纤光栅的软体机器人末端力解耦算法为微创手术软体机器人的末端力精确测量提供了有效的方法,在生物医学等软体机器人的末端力测量中具有应用前景。     

基于本体手势-触觉感知的机器手抓取

遥操作机器人为从事各种风险工作的人们提供智能和方便的支持,成为机器人人机交互领域中关键技术之一。而触觉感知及反馈技术能够很好地辅助操作者完成精细遥操作机器人抓握控制,研究触觉反馈在遥操作中的协同作用有助于提高机器人遥操作性能。在基于数据手套及触觉感知阵列的遥操作机器人控制系统下,构建了包含视觉及触觉双模态的反馈体系。采用上位机实时显示的方式解析机器人作业状态,同时构建了基于电刺激的力触觉临场感反馈模型,实现对机器人灵巧手的精准控制及抓握作业情况和握力的再现,增加操作者的本体感。针对不同的用户使用情况进行了交叉验证,实验结果表明,触觉反馈技术能够提高遥操作机器人的作业性能,同时基于视-触双模态反馈技术能够实现对触觉力的大小及遥操作机器人作业状态更优的反馈性能,实现了操作者在视觉受阻碍状况下对机器人灵巧手进行遥操作并完成稳定抓取的任务。     

可任意分布的精密压电传感器阵列

提出了一种超精密、高位置分辨率、快速响应的、可任意分布的，便于大规模集成的压电传感器阵列。该系统传感及信号传输方法独特，性能优良，是一种理想的机器人敏感触觉系统。     

VLSI触觉阵列传感器系统

本文从系统的观点,综述评论了触觉传感器的信息构成、用于触觉传感的一些物理效应、集成触觉传感器的阵列结构及信号处理系统,并指出了在集成触觉传感器研究中亟待解决的问题。     

一种简单的电容式三维力柔性触觉传感器设计

随着机器人智能化程度不断提高,机器触觉和机器视觉技术均得到了很大发展,但是目前大部分触觉传感器均不能满足触觉感知应用的要求。因此,提出了一种新型的具有滑觉检测功能的柔性三维力触觉传感器。该传感器能够将力量变化转化为气隙变化,进而引起电容发生变化。然后将接触力建模为实测电容的多项式函数,对传感器输出进行校正进而实现法向力测量和滑动检测。测试结果显示,提出的传感器能够以较高的精确度测量法向力,重复性好,并且能够检测滑动现象,在0-100mN测量范围内的法向灵敏度约为0.4 pF/N,均方根误差为1%。此外提出的传感器结构简单、成本较低,易于大规模生产和应用。     

光波导触觉传感系统中光斑形成机理的分析

智能机器人的发展对触觉传感器提出了越来越高的技术要求。该文参考目前基于压电、热电和磁传导等原理的触觉传感系统设计方案，提出了一种新型光波导触觉传感系统，并根据平面波导的几何光学理论，详细论述了光斑的形成机理。     

基于逆传播神经网络的光纤布拉格光栅触觉传感

为实现机械手指的复合式触觉传感,以光纤布拉格光栅(FBG)为传感元件,将压力传感器和温度传感器封装在同一聚合物传感单元中。分析了压力传感器受目标物体温度扰动的特性,同时利用逆传播神经网络对FBG触觉传感信号进行处理,实现了对传感单元表面正向压力的准确识别。仿真与实验结果表明,该方法进一步消除了目标物体温度对应变传感器的影响,减小了应变传感器的不确定性误差,提高了压力测量结果的稳定性和测量精度,补偿后压力传感器的温度漂移率仅为1.2×10-4 nm/℃。将补偿研究应用于机械手指FBG触觉传感阵列,可以有效抑制温度对应变传感的干扰,使得柔性机械手指触滑测量系统具有更加广阔的应用前景。     

基于CMAC的触觉传感信号自适应逆滤波器设计

CMAC是模仿人类小脑工作机理的一种神经网络,它具有自适应补偿能力。本文首次在机器人PVDF触觉传感器领域使用了基于CMAC神经网络的逆滤波系统,目的是消除在通过触觉传感器的应力信息反求被触摸物体的轮廓过程中系统模型产生的结构误差。使用ARMA模型对触觉传感器模型进行了较好的逼近,保证了整个系统能有效工作。设计了基于频域特性的物体轮廓高程估计逆滤波器系统,此逆滤波器具有较快的速度和很强的通用性。     

Application of Photoelectric Devices to Robot Soft Grasp

A robot slide tactile sensor based on photoelectric devices is introduced.The sensor is mounted on the hydraulic manipulator and used in a soft grasp control system.The experimental results are also presented.     

Intrinsic tactile sensing for the optimization of force distribution in a pipe crawling robot

Describes a tactile sensing system based on a force/torque sensor for the feet of a pipe crawling robot. Such a sensing system is needed for better optimization of force and joint load distribution and a safer avoidance of the risk of foot slippage. While conventional tactile sensing devices typically provide information concerning the spatial distribution of normal pressures, the intrinsic contact sensing system presented in this text only measures the three components of the contact force and two components of the resultant torque. These five parameters are shown to be sufficient to estimate the location of the contact point and hence the orientation of the local contact surface. Such information can then be used by the crawler's control system for the real-time computation of an optimized foot force distribution. The intrinsic tactile sensing method has been experimentally tested on a single leg test setup, while the optimization of force distribution is already functioning in the TUM Pipe Crawling Robot (only with a different, more unripe, sensing system for the contact orientations)     

Review Article Tactile sensing for mechatronics—a state of the art survey

In this paper we examine the state of the art in tactile sensing for mechatronics. We define a tactile sensor as a device or system that can measure a given property of an object or contact event through physical contact between the sensor and the object. We consider any property that can be measured through contact, including the shape of an object, texture, temperature, hardness, moisture content, etc.A comprehensive search of the literature revealed that there was a significant increase in publications on tactile sensing from 1991 onwards. Considerable effort in the 1980s was spent investigating transduction techniques and developing new sensors, whilst emphasis in more recent research has focused on experiments using tactile sensors to perform a variety of tasks.This paper reports on progress in tactile sensing in the following areas: cutaneous sensors, sensing fingers, soft materials, industrial robot grippers, multifingered hands, probes and whiskers, analysis of sensing devices, haptic perception, processing sensory data and new application areas.We conclude that the predominant choice of transduction method is piezoelectric, with arrays using resistive or capacitive sensing. We found that increased emphasis on understanding tactile sensing and perception issues has opened up potential for new application areas. The predicted growth in applications in industrial automation has not eventuated. New applications for tactile sensing including surgery, rehabilitation and service robotics, and food processing automation show considerable potential and are now receiving significant levels of research attention.     

机器人用PVDF触觉传感器的国外研究现状

目前,国内外对具有人类功能的机器人操作器和灵巧手展开了广泛的研究,其中触觉传感器是一个主要方面。由于PVDF（聚偏二氟乙烯）压电薄膜具有压电能力高、柔韧、极薄、质轻等特点,其许多特性接近人类皮肤的特性,尤其受到研究人员的关注。文章从PVDF薄膜的原理和特性出发,展开介绍了国外机器人用PVDF触觉传感器的研究现状。     

MARKER-BASED MAPPING BETWEEN MEDICAL IMAGE AND ROBOT SPACE IN ROBOT-ASSISTED SURGERY

This paper focuses on the problems of matching a virtual and a real environments by means of hardware and software tools. The real space is represented by a patient's bone where a set of cuts by means of robot system is to be made. The virtual space is a 3D model of the bone reconstructed from a set of CT slices. Robot system is then not only to machine bones but also to perform the fundamental step of registration between the two spaces. An external force sensor is used to adjust robot stiffness in order to perform the tactile searching necessary for the registration. A simple but reliable software algorithm is used to control the robot for matching between medical image and robot space in robot-assisted surgery. The results show the system proposed is precise enough for application, and tests been made also clarify the way to improve it.     

Integrating fuzzy control of the dexterous National Taiwan University (NTU) hand

Compared to traditional tendon-driven robots, the mechanism design of the National Taiwan University hand has an uncoupled configuration and is compact in size. In this paper, a specially designed compact control system, which is embedded into the NTU hand to satisfy the limited space, is developed to perform the control of the five-finger robot with 17 degrees of freedom (DOF). There are total 17 actuators including transmission mechanism, 17 potentiometers, and 18 tactile sensor pads to be integrated. Those 17 actuators should be controlled simultaneously by integrating 17 position sensing signals and 18 tactile signals. Multi-loop position control is further complicated by multi-loop force control as well as sensor integration. The proposed control system distributes the computation load into several modules and utilizes the DSP chip. It takes advantage of the fuzzy control by introducing the knowledge of human and sensor fusion with the finger joint and tactility. Using the communication function of the control system, the knowledge bases can be loaded for high level computation and modified during run time.