机器人触觉传感器柔性动态系统模型的建立

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.

The Establishment of the Flexible Dynamical System Model for Robot Tactile Sensor

This paper explores a model of the piezo and pyroelectric polymer skin- like tactile sensors for robots.In the article,a method for pattern recogn- ition by an artificial tactile sensor is introduced.We began our study by considering some simple experiments.On the basis of these experiments, the transfer functions of the artificial skirl are established.The other part of the paper describes how artificial skin can feel hot and cold and recogn- izes the hardness and smoothness of objects.Finally,the structures of the tactile sensors are shown for a new assumption on the basis of the former conclusions.