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Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study

文献类型：期刊论文

作者Gui, Mei-Jiang4,5; Zhou, Xiao-Hu4,5; Xie, Xiao-Liang4,5; Liu, Shi-Qi4,5; Li, Hao4,5; Xiang, Tian-Yu4,5; Wang, Jin-Li3; Hou, Zeng-Guang1,2,4,5
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2022
卷号71页码:11
关键词Soft magnetic materials Skin Magnetic analysis Magnetoelasticity Magnetic levitation Force Magnetic hysteresis Analytical magnetic calculation deformation experiments finite element simulation Halbach cylinder tactile perception
ISSN号0018-9456
DOI10.1109/TIM.2022.3147904
通讯作者Zhou, Xiao-Hu(xiaohu.zhou@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
英文摘要Robotic tactile sensing plays a vital role in realizing the precise perception of complex environments, affecting the application of robots in a wide range of industrial and household fields. However, existing tactile sensors are limited by weakly interpretable information mapping relationships. In this article, a novel Halbach-cylinder-based magnetic skin is constructed with permanent magnets and elastic rubber to address such problems. Furthermore, a highly interpretable and widely applicable method is deduced to effectively represent the skin & x2019;s information conversion as a Halbach cylinder deforms to an elliptical cylinder under external force. Experiments of simulated models and actual skins with different compressions are conducted to evaluate the proposed method. The results show that 0.24 & x0025; and 0.26 & x0025; relative errors in simulated and real environments, respectively, can be achieved. Our method can reach the minimum error in almost all situations compared with state-of-the-art approaches. These promising results demonstrate the method & x2019;s great potential to provide a basis for developing a practical magnetic-force mapping relationship.
WOS关键词TACTILE ; PERCEPTION ; MACHINE ; SOFT
资助项目National Natural Science Foundation of China[62003343] ; National Natural Science Foundation of China[U1913601] ; National Natural Science Foundation of China[62073325] ; National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[U20A20224] ; National Natural Science Foundation of China[U1913210] ; Youth Innovation Promotion Association of Chinese Academy of Sciences (CAS)[2020140] ; National Key Research and Development Program of China[2019YFB1311700] ; Strategic Priority Research Program of CAS[XDB32040000]
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000766300200126
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Youth Innovation Promotion Association of Chinese Academy of Sciences (CAS) ; National Key Research and Development Program of China ; Strategic Priority Research Program of CAS
源URL[http://ir.ia.ac.cn/handle/173211/48117]  
专题多模态人工智能系统全国重点实验室_医疗机器人
通讯作者Zhou, Xiao-Hu; Hou, Zeng-Guang
作者单位1.Macau Univ Sci & Technol, Inst Syst Engn, Joint Lab Intelligence Sci & Technol, Taipa, Macao, Peoples R China
2.CAS Ctr Excellence Brain Sci & Intelligence Techn, Beijing 100190, Peoples R China
3.China Univ Min & Technol, Sch Mech Elect & Informat Engn, Beijing 100083, Peoples R China
4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Gui, Mei-Jiang,Zhou, Xiao-Hu,Xie, Xiao-Liang,et al. Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2022,71:11.
APA Gui, Mei-Jiang.,Zhou, Xiao-Hu.,Xie, Xiao-Liang.,Liu, Shi-Qi.,Li, Hao.,...&Hou, Zeng-Guang.(2022).Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,71,11.
MLA Gui, Mei-Jiang,et al."Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 71(2022):11.

入库方式： OAI收割

来源：自动化研究所

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