Design of Active Sensing Smart Skin for Incipient Slip Detection in Robotics Applications
文献类型：期刊论文
| 作者 | Liu, Cheng; Huh, Tae Myung; Chen, Spencer X.; Lu LL(路玲玲) ; Kopsaftopoulos, Fotis; Cutkosky, Mark R.; Chang, FuKuo
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2022-12-01 |
| 页码 | 12 |
| ISSN号 | 1083-4435 |
| 关键词 | Active sensing guided wave incipient slip detection piezoelectric transducer smart skin tactile sensing |
| DOI | 10.1109/TMECH.2022.3224119 |
| 通讯作者 | Liu, Cheng(chengliu8@alumni.stanford.edu) |
| 英文摘要 | Tactile sensing is paramount for robots operating in human-centered environments to help understand interactions with objects. One challenging issue in tactile sensing is the slip detection problem. Currently, most slip detection methods use passive sensors, which only measure force or vibration, but not directly the contact area, which is one of the most reliable parameters for slip detection. Other methods, which do measure contact area such as optical methods often suffer from complex sensor configurations and lack of flexibility for customization. Active sensing, in contrast, has simple sensor configurations, and can also directly measure the contact area to improve the efficiency for slip detection. In this article, a novel active sensing smart skin was developed for incipient slip detection, which leverages piezoelectric transducers as actuators/sensors. First, a robotic fingertip with embedded actuator and sensor was created in which the actuator generates ultrasonic guided waves received by the sensor during a slip scenario. By analyzing the received signals using an attenuation-based method, the entire contact condition evolution can be monitored within 1 ms. Then, an optical method was used to validate the signal attenuation, which correlated consistently with the contact area. Finally, a unique robotic skin was created which demonstrated robust and sensitive response for incipient slip detection. |
| 分类号 | 一类 |
| WOS关键词 | THERMAL PROTECTION PANELS ; TACTILE ; CONTACT ; FORCE ; HAND |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000912792500001 |
| 其他责任者 | Liu, Cheng |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/91534]  |
| 专题 | 力学研究所_流固耦合系统力学重点实验室(2012-) |
| 推荐引用方式 GB/T 7714 | Liu, Cheng,Huh, Tae Myung,Chen, Spencer X.,et al. Design of Active Sensing Smart Skin for Incipient Slip Detection in Robotics Applications[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:12. |
| APA | Liu, Cheng.,Huh, Tae Myung.,Chen, Spencer X..,路玲玲.,Kopsaftopoulos, Fotis.,...&Chang, FuKuo.(2022).Design of Active Sensing Smart Skin for Incipient Slip Detection in Robotics Applications.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12. |
| MLA | Liu, Cheng,et al."Design of Active Sensing Smart Skin for Incipient Slip Detection in Robotics Applications".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):12. |
入库方式： OAI收割
来源：力学研究所
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