线圈- tac：用于触觉感应的液态金属线圈电容器机构

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-04-07 DOI:10.1109/LRA.2025.3558655

George P. Jenkinson;Andrew T. Conn;Antonia Tzemanaki

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引用次数: 0

摘要

利用液态金属的高导电性和流动性，coil - tac是一种基于测量可流动液态金属芯在导电螺旋线圈内运动时电容变化的软转导机制。利用有限差分方法，推导了一个模型，该模型估计了不同线圈间距的coil - tac的响应在0-2.5 pF范围内与实验结果相差0.0502 pF，对应于高达35 mm的横向液态金属运动。该线圈- tac机制被证明能够在5赫兹下进行振荡触觉感应，并在耦合到软界面时进行触摸位置估计。与界面耦合的机构具有足够的灵敏度，可以将接触中心定位在0.23 mm以内，并且可以估计圆顶轴与平面之间的入射角在0.53$^{\circ}$之内。

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Coil-Tac: Coiled Capacitor Mechanism With Liquid Metal for Tactile Sensing

Exploiting the high conductivity and fluidity of liquid metal, Coil-Tac is a soft transduction mechanism based on measuring change in capacitance as a flowable liquid metal core moves within a conductive helical coil. Using finite difference methods, a model is derived that estimates the response of Coil-Tac with various coil pitches to within 0.0502 pF of our experimental results in the range of 0–2.5 pF, corresponding to a lateral liquid metal movement of up to 35 mm. The Coil-Tac mechanism is demonstrated to be capable of oscillatory tactile sensing at 5 Hz and touch location estimation when coupled to a soft interface. The mechanism coupled with the interface is sensitive enough to locate the centre of the contact to within 0.23 mm, and estimate the incident angle between the axis of the dome and a flat surface to within 0.53

$^{\circ }$

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.