Tactile sensors are essential if ro

Tactile sensors are essential if robots are to safely interact with the external world and to dexterously manipulate objects. Current tactile sensors have limitations restricting their use, notably being too fragile or having limited performance. Magnetic field-based soft tactile sensors offer a potential improvement, being durable, low cost, accurate and high bandwidth, but they are relatively undeveloped because of the complexities involved in design and calibration. This paper presents a general design methodology for magnetic field-based three-axis soft tactile sensors, enabling researchers to easily develop specific tactile sensors for a variety of applications. All aspects (design, fabrication, calibration and evaluation) of the development of tri-axis soft tactile sensors are presented and discussed. A moving least square approach is used to decouple and convert the magnetic field signal to force output to eliminate non-linearity and cross-talk effects. A case study of a tactile sensor prototype, MagOne, was developed. This achieved a resolution of 1.42 mN in normal force measurement (0.71 mN in shear force), good output repeatability and has a maximum hysteresis error of 3.4%. These results outperform comparable sensors reported previously, highlighting the efficacy of our methodology for sensor design.

Keywords: tactile sensors, soft sensing, force sensors, Hall effect sensor, magnetic field, hyperelastic elastomer, silicone rubber, moving least square, calibration, design methodology

Kết quả (Anh) 1:

Tactile sensors are essential if robots are to safely interact with the external world and to manipulate objects dexterously. Current tactile sensors have limitations restricting their use, notably being too fragile or having limited performance. Magnetic field-based soft tactile sensors offer a potential improvement, being durable, low cost, accurate and high bandwidth, but they are relatively undeveloped because of the complexities involved in design and calibration. This paper presents a general design methodology for magnetic field-based three-axis tactile soft sensors, enabling researchers to easily develop specific tactile sensors for a variety of applications. All aspects (design, fabrication, calibration and evaluation) of the development of the tri-axis soft tactile sensors are presented and discussed. A moving least square approach is used to decouple and convert the magnetic field signal to force output to eliminate non-linearity and cross-talk effects. A case study of a tactile sensor prototype, MagOne, was developed. This achieved a resolution of 1.42 mN in normal force measurement (0.71 mN in shear force), good repeatability output and has a maximum hysteresis error of 3.4%. These results outperform comparable sensors reported previously, highlighting the efficacy of our methodology for sensor design.Keywords: tactile sensors, soft sensing, force sensors, Hall effect sensor, magnetic field, silicone rubber, elastomer, hyperelastic moving least square, calibration, design methodology

Kết quả (Anh) 2:

Tactile sensors are essential if robots are to interact with the external world Safely to dexterously manipulate objects and. Current Limitations tactile sensors have có restricting use, being too fragile Notably having limited or performance. Magnetic field-based soft tactile sensors offer a potencial improvement, being durable, low cost, accurate and high bandwidth, but chúng Relatively undeveloped Involved Because of the complexities in design and calibration. This paper presents a general design for magnetic field-based Methodology three-axis tactile sensors soft, Enabling researchers to develop specific Easily tactile sensors for a variety of applications. All aspects (design, fabrication, calibration and evaluation) of the development of tri-axis sensors are soft tactile hiển and Discussed. A moving nhất approach is used to decouple square and convert the magnetic field to force output signal to non-linearity and Eliminate cross-talk effects. A case study of a prototype tactile sensor, MagOne, was Developed. This Achieved a resolution of 1:42 in normal force measurement mN (0.71 mN in shear force), good repeatability and has a maximum output hysteresis error of 3.4%. These results outperform comparable báo trước sensors, highlighting the efficacy of our Methodology for sensor design.

Keywords: tactile sensors, soft sensing, force sensors, Hall effect sensors, magnetic field, hyperelastic elastomer, silicone rubber, moving Least square, calibration, design Methodology

Kết quả (Anh) 3:

Tactile sensor is the robots essence, if it is large safely with the external world and dexterously used to manipulate objects. Current tactile sensor restricting has limited use, especially in limited or too little brittle performance. Based on the soft magnetic field as a potential tactile sensor improvement, unlike the low cost and high, accurate, bandwidth, but because they are relatively undeveloped complexities participated in the study on the design and calibration. This paper presents a general design method for the three axis magnetic field based on the soft tactile sensor which is easy to realize the great development of the researchers, for a wide variety of tactile sensors for the specific application. (all aspects of the design and evaluation, fabrication, calibration) of the prophet axis development of the soft tactile sensor are presented and discussed. At least one moving method is used to discuss the effects of decouple square and large magnetic field force on the signal output to the eliminate non linearity and cross. A case study of a sensor prototype tactile, Magone, was developed. This 1.42 achieved resolution is measured in normal Mn air force (air force 0.71 Mn in shear), and has a good repeatability output maximum of 3.4% error hysteresis. These results comparable better than previously reported sensors, and our method of efficacy highlighting for sensor design.Keywords: tactile force sensor for remote sensing sensor, soft, sensor, Holzer effect, magnetic field, elastomer silicone, hyperelastic rubber, mobile at least square, calibration, design method