夹持器
触觉传感器
机器人
软机器人
信号(编程语言)
声学
弯曲
接触力
计算机科学
机械工程
工程类
人工智能
物理
结构工程
量子力学
程序设计语言
作者
Monica S. Li,Tae Myung Huh,Christopher Yahnker,Hannah Stuart
出处
期刊:IEEE robotics and automation letters
日期:2022-10-01
卷期号:7 (4): 10105-10111
被引量:3
标识
DOI:10.1109/lra.2022.3191186
摘要
Soft robots capable of dexterous manipulation can enable the exploration of extreme environments. Equipping these robots with tactile sensing is a challenge, as sensors must be flexible, stretchable, and robust to environmental conditions. We present a tactile sensor design with a pneumatically driven acoustic resonator, without electronics near from the end-effector. For applications to soft grippers, we measure the resonant frequency of a soft tube undergoing stretching and bending. A small hole along the resonant tube enables contact sensing and pretouch up to 2 mm away. We also measure resonant frequency for a rigid uni-axial force sensing probe. Grasping tasks utilize three sensing modalities of a soft gripper; finger pose, fingertip contact, and force in the palm all provide feedback for dexterous manipulation. We discuss and address in future work the effects of atmosphere and air flow rate on resonant frequency as well as limitations in signal processing of this sensor design.
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