一种用于多指机械手的集成触觉反馈系统

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.976248

W. Lo, Yantao Shen, Yunhui Liu

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引用次数: 14

摘要

提出了一种集成触觉反馈系统，用于多指机械手，使人类操作员能够远程感受到机器人手指与环境之间的接触/相互作用。该系统由测量指尖接触面积的指形触觉传感器和向操作人员显示接触信息的触觉显示器组成。基于全内反射原理设计的触觉传感器，能够在指尖捕捉高分辨率、高质量的触觉图像。触觉显示器有24个针脚，间隔2.5毫米，使用多层结构的直流螺线管来呈现指尖与环境之间的接触。我们将触觉传感器和触觉显示集成到一个五指机械手系统中，并通过实验验证了集成系统的性能。

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An integrated tactile feedback system for multifingered robot hands

Presents an integrated tactile feedback system for a multifingered robot hand to enable a human operator to feel contacts/interactions between the robot finger and the environment remotely. The system presented consists of a finger-shaped tactile sensor measuring contact areas on the fingertip and a tactile display rendering the contact information to the human operator. The tactile sensor, designed on the total internal reflection principle, can capture high resolution and high quality tactile images on the fingertip. The tactile display with 24 pins spaced at 2.5 mm uses DC solenoids structured in multi-layers to render the contacts between the fingertip and the environment. We have integrated the tactile sensor and the tactile display into a five-fingered robot hand system and verified the performance of the integrated system by experiments.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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