触觉传感器
打滑(空气动力学)
压阻效应
超弹性材料
声学
剪切力
应变计
计算机科学
机器人
人工智能
机械工程
材料科学
工程类
结构工程
电气工程
物理
有限元法
航空航天工程
作者
Minsong Kim,Jun‐Mo Yang,Dong-Hyun Kim,Dongwon Yun
出处
期刊:Measurement
[Elsevier]
日期:2022-08-01
卷期号:200: 111615-111615
被引量:6
标识
DOI:10.1016/j.measurement.2022.111615
摘要
Robotic hands using tactile sensors are widely used in various industrial fields. Slip detection is important tactile information for stable gripping. In this paper, a soft tactile sensor that reliably pinches atypical objects by detecting slip is presented. The sensor can detect slip in two directions. The internal structure of the sensor was fabricated using a small strain gauge, and when slip occurs, the shear force is sensed by the piezoresistive principle. It is covered with silicone, a hyperelastic substance like human skin, and the sensor was designed to decouple the force in each axial direction analytically and experimentally. Additionally, its high durability and precision were confirmed through repeated experiments. The picking experiment using the fabricated gripper and sensor showed the sensor could detect slips on objects of various shapes, weights, and materials, and it is also possible to detect slips that occur additionally due to rotation and lifting speed.
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