| 一种高分辨力柔性触觉传感器 |
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| 引用本文： | 贾云得 李科杰. 一种高分辨力柔性触觉传感器[J]. 机器人, 1994, 16(1): 40-44 |
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| 作者姓名： | 贾云得 李科杰 |
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| 作者单位： | 北京理工大学力学工程系 |
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| 摘 要： | 本文描述了一种基于全内反射原理，用透明橡胶材料作为波导板的柔性触觉传感器。该传感器除具有一般刚性波导板触觉传感器的高分辨力等特点外，还具有柔性好，力灵敏阈值低，不怕碰撞等特点，该传感器特别适合装在智能机器人手爪上，为机器人系统高效率地获取物体形状，位置和姿态信息，实现智能抓握物体，操作物体等功能提供了有效的手段。
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| 关 键 词： | 触觉传感器 机器人 |
A HIGH-RESOLUTION COMPLIANT TACTILE SENSOR |
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| JIA Yunde , LI Kejie, SHI Gengchen. A HIGH-RESOLUTION COMPLIANT TACTILE SENSOR[J]. Robot, 1994, 16(1): 40-44 |
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| Authors: | JIA Yunde LI Kejie SHI Gengchen |
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| Affiliation: | Beijing Inst.of Technology |
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| Abstract: | A high-resolution compliant tactile sensor based on total internal reflection(TIR)technique ispresented. The sensor uses a clear rubber as waveguide plate with both high resolution and compliance andlow force sensing threshold in constrast with solid waveguide plate (glass, acrylic).It is suitable for the sen-sor incorporated in the finger of a robot gripper to efficiently acquire parameters about the shape,positionand orientation of an object for the grasping and recognition tasks. |
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| Keywords: | Tactile sensor optical sensor TIR |
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