| 一种机器人压阻阵列触觉数据采集的新方法 |
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| 引用本文： | 罗志增,蒋静坪. 一种机器人压阻阵列触觉数据采集的新方法[J]. 仪器仪表学报, 1999, 20(1): 31-33,48 |
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| 作者姓名： | 罗志增 蒋静坪 |
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| 作者单位： | 1. 杭州电子工业学院机器人所,杭州,310037
2. 浙江大学电机系,杭州,310027 |
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| 摘 要： | 压阻阵列触觉传感器为减少外接引线一般均采用行列电极结构，这一结构给触觉的扫描采样带来了串扰噪声，同时随着阵列数的增加，如何提高传感器的数据采集速度将直接影响它的实时处理。本文在分析研究现有数据采样电路的基础上，设计了一种新的行扫描采样电路，较好地解决了这两方面的问题。
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| 关 键 词： | 机器人 阵列触觉 数据采集 传感器 |
A New Method of Data Acquisition for Piezoresistive Robot Tactile Array |
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| Luo Zhizeng,Jiang Jingping. A New Method of Data Acquisition for Piezoresistive Robot Tactile Array[J]. Chinese Journal of Scientific Instrument, 1999, 20(1): 31-33,48 |
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| Authors: | Luo Zhizeng Jiang Jingping |
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| Affiliation: | Luo Zhizeng (Robotics Research Centre Hangzhou Institute of Electronic Engineering Hangzhou 310037) Jiang Jingping (Department of Electric Engineering Zhejiang University Hangzhou 310027) |
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| Abstract: | In order to minimize interconnecting wires,tactile sensing array is made up of a sheet of piezoresistive rubber and common column and row stripe electrodes.This architecture introduces undesiable crosstalk between sensing elements.While the number of array increases,the response frequency of tactile array will down.In this paper,by means of discussing some previous methods,a new tactile array scanning circuitis developed.The circuit scans the sensor row by row.It raises the speed of data acquisition and also excludes crosstalk between sensing elements. |
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| Keywords: | Robot Tactile sensor array Data acquisition |
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