基于信息融合的阵列式触觉传感器信号处理方法研究

针对阵列式触觉传感器不同触觉组单元获得的物体表面轮廓估计，设计了中心式数据融合结构，全局融合算法采用Baycs估计，有效地降低了单一触觉组单元不确定性系统误差的影响，提高了物体表面轮廓数据测量和图像重构的精度，对触觉传感系统整体性能的提高有重要意义。     

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     

基于混沌电路的模拟式阵列触觉传感器A öD 转换电路

本文利用混沌帐篷映射电路对小信号敏感及非线性变换的独特性能 ,提出了一种新颖的适用于模拟式阵列触觉传感器的 A / D转换电路 ,具有调理放大和 A/ D转换功能一体化优点 ,并且电路简单、易于集成实现 ,可实现多路触觉信号的同时采样和 A / D转换     

Bitterness and astringency of flavan‐3‐ol monomers,dimers and trimers

Intensity of astringency and bitterness of seven flavonoid compounds was evaluated by a time‐intensity (TI) procedure. Eighteen trained judges rated intensity continuously from ingestion, through expectoration at 10 s until extinction of the sensation. The seven stimuli included two flavan‐3‐ol monomers, (+)‐catechin and (−)‐epicatechin, three dimers and two trimers synthesised from catechin or epicatechin by condensation with (+)‐dihydroquercitin. As the degree of polymerisation increased, maximum bitterness intensity (I_max) and total duration (T_tot) decreased whereas astringency I_max increased. The monomers were significantly higher in bitterness at I_max than the dimers, which were significantly higher than the trimers. Astringency I_max of the monomers was lower than the dimers or trimers, although no significant difference was found in T_tot among the polymer classes. The bond linking the monomeric units had an influence on both sensory properties. The catechin‐catechin dimer linked by a 4→6 bond was more bitter than both catechin‐(4→8)‐catechin and catechin‐(4→8)‐epicatechin. Astringency was affected by both the specific linkage and the identity of the monomeric units with the dimer, catechin‐(4→8)‐catechin, being lower in astringency than either catechin‐(4→6)‐catechin or catechin‐(4→8)‐epicatechin. © 1999 Society of Chemical Industry     

A thermally flexible and multi-site tactile sensor for remote 3D dynamic sensing imaging

A flexible, multi-site tactile and thermal sensor (MTTS) based on polyvinylidene fluoride (resolution 50 × 50) is reported. It can be used to implement spatial mapping caused by tactile and thermal events and record the two-dimensional motion trajectory of a tracked target object. The output voltage and current signal are recorded as a mapping by sensing the external pressure and thermal radiation stimulus, and the response distribution is dynamically observed on the three-dimensional interface. Through the mapping relationship between the established piezoelectric and pyroelectric signals, the piezoelectric component and the pyroelectric component are effectively extracted from the composite signals. The MTTS has a good sensitivity for tactile and thermal detection, and the electrodes have good synchronism. In addition, the signal interference is less than 9.5% and decreases as the pressure decreases after the distance between adjacent sites exceeds 200 µm. The integration of MTTS and signal processing units has potential applications in human-machine interaction systems, health status detection and smart assistive devices.     

带触觉的肌电假手握力模糊控制方法

从注重残疾人本体感出发,提出了一种新的用于肌电假手握力控制的方法.该方法利用短时傅里叶变换思想对信号进行时间片分割,并对时间片内的信号分析选取了几个具有代表性的肌电信号参数,并用训练后的神经网络对其进行分析处理,进而估计出相应的肌肉用力大小.同时将肌电假手指端的力触觉传感器所得的力触觉信号和肌肉用力大小信号输入模糊控制器,根据设计好的模糊控制规则调节肌电假手驱动电机的转动速度从而控制握力大小.该方法可以有效减小个人差异性和肌电信号传感器检测位置不同对控制效果的影响,可以减小肌电传感器安装难度并可供不同的残疾人使用.实验结果证明了该握力控制方法的有效性.     

光纤光栅柔性触觉传感器的材质识别功能研究

针对目前应用于电子皮肤的触觉传感器不能兼具柔韧性和多模态信息感知等问题,对封装于同一柔性聚合物传感单元中的两根光纤光栅触觉传感器的材质识别功能进行了有限元仿真和实验研究。首先,推导了光纤光栅触觉传感原理和基于热传递的接触物体材质识别机理;然后,对封装材料和接触物体进行了热力学仿真分析;最后,搭建了实验系统平台,对光纤光栅柔性触觉传感器进行了材质识别实验研究。仿真和实验结果表明,当接触物体为70℃的铝、铁、塑料等材质时,由于热传递引起的光纤光栅温度传感器中心波长漂移最大值分别为：Δλ_B1=0.588 9 nm、Δλ_B2=0.277 3 nm和Δλ_B3=0.169 2 nm,且在接触的前10 s内中心波长漂移随时间变化率分别为k₁=31 pm/s、k₂=19 pm/s和k₃=6 pm/s。扩展光纤光栅触滑觉传感器的接触物体材质识别功能,可实现电子皮肤更多模态信息的感知,具有一定的应用价值。     

Recent developments in the study of tactile attention.

The last few years have seen a rapid growth of research on the topic of tactile attention. We review the evidence showing that attention can be directed to the tactile modality, or to the region of space where tactile stimuli are presented, in either an endogenous or exogenous (top-down or bottom-up) manner. We highlight the latest findings on the interaction between these two forms of attentional orienting in touch. We also review the latest research on tactile numerosity judgments and change detection highlighting the severe cognitive (attentional) limitations that constrain people's ability to process more complex tactile information displays. These findings are particularly important given that tactile interfaces are currently being developed for a number of different application domains. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Not only in the eye of the beholder: Tactile information can affect aesthetic evaluation.

The study tested if evaluation of Aesthetic quality is influenced by tactile information and whether the evaluation process is affected more by one modality (vision) than another (touch). Tactile sensing and visual appreciation were compared with combined visual and tactile sensing of surface textures. Three kinds of plastic textures on the outside of a DVD container and three sample swatches of the textures used on the DVDs were used in the study. Three DVD containers were presented visually to the participants. This was followed by a blind haptic evaluation (i.e., the participants could only feel but not see the swatches) of the three different textured swatches, and then by combined visual and tactile evaluation of the three differently textured DVDs. One hundred and twelve participants took part in all 3 evaluations. A regression analysis showed that in 2 of the 3 conditions tested, overall Aesthetic evaluation was influenced both by vision and touch. To what extent the modalities influenced the evaluation depended upon which of the textures had been evaluated. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Progrés dans la recherche sur le toucher.

Introduces the special issue on New Directions in Touch, which focuses on a number of critical topics concerning the sense of touch, with invited reviews written by some of the top researchers in the field today. Some of these are traditional topics that have seen impressive advances in recent years, while others are quite new. The intent in highlighting this work is to reflect the increasing excitement in recent years surrounding the exponential increase in highly innovative and diverse research devoted to the sense of touch. There are nine articles in the special issue, covering a wide assortment of topics related to human tactile and haptic sensing and its application, including sensation, perception, cognition and their underlying neural mechanisms, and how basic research on touch has been applied to the design of haptic interfaces for teleoperation and virtual environments. (PsycINFO Database Record (c) 2010 APA, all rights reserved)