串并联微动机构的运动学分析

本文提出了一种新颖的用于微动操作的“串并联”机构，利用矢量运算的方法，简便地分析了它的运动学特性，阐述了此机构的一些特点，并根据讨论的结果，设计出了微操作手的样机。     

高灵敏度金属—压电陶瓷触觉传感器

本文设计了一种新型的金属—压电陶瓷结构的触觉传感器.由于具有月牙状浅穴的作用.可将z方向的应力转变成很大的径向应力.因此在d_k中d_(33)与d_(31)不再是相减,而是相加,因而传感器的灵敏度大大提高.这种结构的传感器制作简单,成本低廉,具有极强的耐磨性和耐冲击性,且动态范围宽,可靠性强等特点.     

A Fuzzy Classifier for Tactile Sensing

In this paper we propose a fuzzy rule-based algorithm for solvingclassification problems related to tactile sensing. A tactile sensing systemis a robotic device which gives an image of contacting objects. While thefine form recognition problem has been widely discussed and severaltechniques have been proposed for its solution (Bayesian approach or Neuralalgorithms), less attention has been paid to the problem of deciding whetherthe object belongs to a particular class or set of objects that share acommon feature, also known as tactile primitive. As input data we considerthe sum of the normal stresses at the sensing sites. Three levels ofclassification, hierarchically connected, are analyzed and, for each level,different basis variables with their membership functions are proposed andcalibrated using a training procedure. The output is an answer regarding thefeatures of the object at each level and is related to the truth values ofthe fuzzy classes. The numerical experiences show that, at least for dataaffected by low noise level, the algorithm has a very high percentage ofcorrect answers.     

E‐Skin Tactile Sensor Matrix Pixelated by Position‐Registered Conductive Microparticles Creating Pressure‐Sensitive Selectors

Electronic skin (E‐skin) imitates human skin by converting external stimuli into electrical signals. E‐skin requires high flexibility and a high level of device integration. Unlike conventional E‐skin creation methods, a highly sensitive pressure sensor matrix (100 pixels cm^?2) made of position‐registered elastic conductive microparticles (MPs) is created. The MPs form a Schottky junction with the bottom electrode and the current through the junction is sensitive to external pressure, forming a simple one‐selector two‐terminal device array. The Schottky junction eliminates the electrical cross talks between the sensor pixels consisting of 64 MPs in each. The flexible pressure sensor matrix is used as an artificial fingertip for Braille reading and as an electronic scale based on detailed force distribution. This work opens up the possibility that assembled MPs, which have been a long‐standing research topic in academia, can be used to make practical electronic devices.     

基于柔性三维力触觉传感器的滑觉识别算法研究

针对智能机器人在软抓取过程中对三维力感知和滑觉识别的需求,本文以炭黑/碳纳米管为敏感材料,硅橡胶为基体,聚酰亚胺为柔性电极,设计了可以实现三维力感知的柔性触觉传感器;同时设计了一种可以实现滑觉识别的基于小波变换-相空间重构-支持向量机(DWT-PSR-SVM)的融合算法。针对机器人软抓取的实验结果表明,该传感器能够有效地检测三维力,通过所设计融合算法能识别在机器人抓取任务中的滑动状态和非滑动状态,可以进一步应用在机器人软抓取的工作中。     

盲人用品触觉感性化设计研究

目的以盲人的感知特性为原点,提出一种以触觉为核心,触觉感性化设计为导向的研究思路,解决盲人在使用产品过程中认知障碍和操作不便的问题。方法通过强化产品的触觉体验,提升盲人使用产品时的感受性,立足于盲人的触觉特性来挖掘产品的感性意识,在触觉与功能、触觉与造型、触觉与使用方式、触觉与材料等设计要素之间建立起感性联系,使产品适应盲人的感性特质,为盲人调味瓶的触觉感性化设计提供理论依据。结论经设计实践及验证分析,盲人调味瓶触感舒适,使用便利,围绕产品构成要素而展开的触觉感性化设计理念切实可行,实现了盲人使用产品时沟通的无障碍和心理的自我满足,充分体现了对盲人的尊重与关爱。     

结合面料属性和触觉感测的织物识别

目的 织物识别是提高纺织业竞争力的重要计算机辅助技术。与通用图像相比,织物图像通常只在纹理和形状特征方面呈现细微差异。目前常见的织物识别算法仅考虑图像特征,未结合织物面料的视觉和触觉特征,不能反映出织物本身面料属性,导致识别准确率较低。本文以常见服用织物为例,针对目前常见织物面料识别准确率不高的问题,提出一种结合面料属性和触觉感测的织物图像识别算法。方法 针对输入的织物样本,建立织物图像的几何测量方法,量化分析影响织物面料属性的3个关键因素,即恢复性、拉伸性和弯曲性,并进行面料属性的参数化建模,得到面料属性的几何度量。通过传感器设置对织物进行触感测量,采用卷积神经网络（convolutional neural network,CNN）提取测量后的织物触感图像的底层特征。将面料属性几何度量与提取的底层特征进行匹配,通过CNN训练得到织物面料识别模型,学习织物面料属性的不同参数,实现织物面料的识别并输出识别结果。结果 在构建的常见服用织物样本上验证了本文方法,与同任务的方法比较,本文方法识别率更高,平均识别率达到89.5%。结论 提出了一种基于面料属性和触觉感测的织物图像识别方法,能准确识别常用的服装织物面料,有效提高了织物识别的准确率,能较好地满足实际应用需求。