触觉传感器
加速度计
陀螺仪
惯性测量装置
机器人
计算机视觉
人工智能
压力传感器
计算机科学
工程类
机械工程
操作系统
航空航天工程
作者
Gorkem Anil Al,Uriel Martínez-Hernández
出处
期刊:IEEE Sensors Journal
[Institute of Electrical and Electronics Engineers]
日期:2023-02-01
卷期号:23 (3): 1962-1971
被引量:3
标识
DOI:10.1109/jsen.2022.3229227
摘要
In this article, we present a low-cost multimodal tactile sensor capable of providing accelerometer, gyroscope, and pressure data using a seven-axis chip as a sensing element. This approach reduces the complexity of the tactile sensor design and collection of multimodal data. The tactile device is composed of a top layer (a printed circuit board (PCB) and a sensing element), a middle layer (soft rubber material), and a bottom layer (plastic base) forming a sandwich structure. This approach allows the measurement of multimodal data when force is applied to different parts of the top layer of the sensor. The multimodal tactile sensor is validated with analyses and experiments in both offline and real-time. First, the spatial impulse response and sensitivity of the sensor are analyzed with accelerometer, gyroscope, and pressure data systematically collected from the sensor. Second, the estimation of contact location from a range of sensor positions and force values is evaluated using accelerometer and gyroscope data together with a convolutional neural network (CNN) method. Third, the estimation of contact location is used to control the position of a robot arm. The results show that the proposed multimodal tactile sensor has the potential for robotic applications, such as tactile perception for robot control, human–robot interaction, and object exploration.
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