Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell
文献类型：期刊论文
| 作者 | Cao, Danqian3; Hu, Jian3 ; Li, Yue3; Wang, Stephen2; Liu, Hongbin1,3
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2022-04-01 |
| 卷号 | 7期号:2页码:3443-3450 |
| 关键词 | Force and tactile sensing haptics and haptic interfaces flexible robotics 3D surface force sensing |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2022.3146596 |
| 通讯作者 | Liu, Hongbin(hongbin.liu@kcl.ac.uk) |
| 英文摘要 | To realize dexterous robotic manipulation and enhance the human-machine interaction, nowadays increasing efforts have been made towards multi-dimensional force sensing. However, there are still bottlenecks in integrating these sensors into robots because of the limitation on conformability to complex surfaces and miniaturization. To overcome the above challenges, we proposed a novel polymer-based waveguide tactile sensing method by embedding elastic optical waveguide channels into a 3D curved shell. By surrounding a soft tactel with four channels, the tactel is capable to measure normal and shear forces. We demonstrated that 3-axis force sensing is achieved on a shell structure with thickness of 2.1 mm. The average gauge factor in detecting the normal force from 0 to 1.1 N is -0.2207 N-1, while the value is -0.1976 N-1 in the shear force sensing from -1 to 1 N. A force resolution of 0.1 mN has been achieved, and the proposed sensor has an average hysteresis of 22.23%. It performs well in dynamic force testing of 10 Hz and reaches average angle error 9.7357 degrees and average amplitude error 0.1555 N between real force and predicted force which is derived by the calibration matrix. The experiment results prove that the proposed sensing method can provide triaxial force sensing on the complex 3D curved surface with good performance. |
| WOS关键词 | FORCE SENSOR ; SKIN ; SHEAR ; TEMPERATURE ; VALIDATION ; DESIGN |
| 资助项目 | Huawei Technologies RD U.K. Ltd. ; China Scholarship Council under CSC[201906340220] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000754248600003 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Huawei Technologies RD U.K. Ltd. ; China Scholarship Council under CSC |
| 源URL | [http://ir.ia.ac.cn/handle/173211/47900]  |
| 专题 | 智能微创医疗技术团队 |
| 通讯作者 | Liu, Hongbin |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Huawei Technol R&D UK Ltd, Bristol BS32 4TR, Avon, England 3.Kings Coll London, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England |
| 推荐引用方式 GB/T 7714 | Cao, Danqian,Hu, Jian,Li, Yue,et al. Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):3443-3450. |
| APA | Cao, Danqian,Hu, Jian,Li, Yue,Wang, Stephen,&Liu, Hongbin.(2022).Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),3443-3450. |
| MLA | Cao, Danqian,et al."Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):3443-3450. |
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