Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach
文献类型：期刊论文
| 作者 | Liu C4; Zhuang YT3; Nasrollahi A2; Lu LL(路玲玲)1 ; Haider MF2; Chang FK2
|
| 刊名 | SENSORS
 |
| 出版日期 | 2020-05-01 |
| 卷号 | 20期号:10页码:14 |
| 关键词 | robotic tactile sensing electronic skin piezoelectric sensors static pressure load sensing electromechanical impedance-based method |
| DOI | 10.3390/s20102830 |
| 英文摘要 | Tactile sensing is paramount for robots operating in human-centered environments to help in understanding interaction with objects. To enable robots to have sophisticated tactile sensing capability, researchers have developed different kinds of electronic skins for robotic hands and arms in order to realize the 'sense of touch'. Recently, Stanford Structures and Composites Laboratory developed a robotic electronic skin based on a network of multi-modal micro-sensors. This skin was able to identify temperature profiles and detect arm strikes through embedded sensors. However, sensing for the static pressure load is yet to be investigated. In this work, an electromechanical impedance-based method is proposed to investigate the response of piezoelectric sensors under static normal pressure loads. The smart skin sample was firstly fabricated by embedding a piezoelectric sensor into the soft silicone. Then, a series of static pressure tests to the skin were conducted. Test results showed that the first peak of the real part impedance signal was sensitive to static pressure load, and by using the proposed diagnostic method, this test setup could detect a resolution of 0.5 N force. Numerical simulation methods were then performed to validate the experimental results. The results of the numerical simulation prove the validity of the experiments, as well as the robustness of the proposed method in detecting static pressure loads using the smart skin. |
| 分类号 | 二类/Q1 |
| WOS研究方向 | Chemistry ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000539323700084 |
| 资助机构 | National Science Foundation ; National Robotics Initiative[1528145] |
| 其他责任者 | Liu, Cheng |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/84786]  |
| 专题 | 力学研究所_流固耦合系统力学重点实验室(2012-) |
| 作者单位 | 1.Chinese Acad Sci, Inst Mech, Key Lab Mech Fluid Solid Coupling Syst, Beijing 100190, Peoples R China 2.Stanford Univ, Dept Aeronaut & Astronaut, Stanford, CA 94305 USA; 3.Zenith Aerosp, Redwood City, CA 94063 USA; 4.Stanford Univ, Dept Mech Engn, Stanford, CA 94305 USA; |
| 推荐引用方式 GB/T 7714 | Liu C,Zhuang YT,Nasrollahi A,et al. Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach[J]. SENSORS,2020,20(10):14. |
| APA | Liu C,Zhuang YT,Nasrollahi A,路玲玲,Haider MF,&Chang FK.(2020).Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach.SENSORS,20(10),14. |
| MLA | Liu C,et al."Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach".SENSORS 20.10(2020):14. |
入库方式： OAI收割
来源：力学研究所
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