蚂蚁运动中地面反作用力测量的三轴微力板阵列

IF 4.3 2区 综合性期刊 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Toshihiro Shiratori;Hidetoshi Takahashi
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引用次数: 0

摘要

陆生昆虫,如蚂蚁,以六条腿的敏捷运动而闻名。然而,由于各腿的地面反力(GRF)难以测量,一直没有得到很好的表征。本文提出了一种微力板阵列,利用采样法、棱镜和单摄像机同时测量蚂蚁运动过程中多条腿的三轴GRFs。SM方法是一种高分辨率的测量方法,它根据捕获的网格模式的位移来测量位移量。所提出的微力板阵列由$2900 \ × 2900 \ × 70 \的$3 \ × 3$阵列组成;\mu $ m板底座,间隙$100 \;\mu $ m为蚂蚁腿的接触面。板基由带有网格图案的弹簧结构支撑。通过棱镜从背面捕捉网格图案,相机可以从两个不同的方向捕捉图像,从而测量三轴位移。通过将板表面划分为9个截面,并根据施加力在z方向力中的位置对误差进行评估,发现最大测量误差为6%。9块板在x、y和z方向上的平均力分辨率分别为3.34、2.47和1.20美元;分别为\mu $ N。利用开发的力板阵列,可以在蚂蚁行走时同时测量每条腿的GRF。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Triaxial Micro Force Plate Array for Measuring Ground Reaction Force in Ant Locomotion
Terrestrial insects, such as ants, are known for their agile locomotion on six legs. However, the ground reaction force (GRF) of each leg has not been well characterized due to its difficulty in measurement. In this report, a micro force plate array is presented that uses the sampling Moiré (SM) method, a prism, and a single camera to simultaneously measure the triaxial GRFs of multiple legs of an ant during its locomotion. The SM method is a high-resolution measurement method that measures the amount of displacement based on the shift of a captured grid pattern. The proposed micro force plate array consists of a $3 \times 3$ array of $2900 \times 2900 \times 70 \; \mu $ m plate bases with a gap of $100 \; \mu $ m as the contact surface of the ant legs. The plate base is supported by a spring structure with a grid pattern. By capturing this grid pattern from the backside via a prism, a camera can capture images from two different directions, allowing the triaxial displacement to be measured. By dividing the plate surface into nine sections and evaluating the error based on the position of the force application in the z-direction force, a maximum measurement error of 6% was found. The average force resolution in the x-, y-, and z-directions for the nine plates was 3.34, 2.47, and $1.20 \; \mu $ N, respectively. With the developed force plate array, it was possible to measure the GRF of each leg simultaneously while the ant was walking.
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来源期刊
IEEE Sensors Journal
IEEE Sensors Journal 工程技术-工程:电子与电气
CiteScore
7.70
自引率
14.00%
发文量
2058
审稿时长
5.2 months
期刊介绍: The fields of interest of the IEEE Sensors Journal are the theory, design , fabrication, manufacturing and applications of devices for sensing and transducing physical, chemical and biological phenomena, with emphasis on the electronics and physics aspect of sensors and integrated sensors-actuators. IEEE Sensors Journal deals with the following: -Sensor Phenomenology, Modelling, and Evaluation -Sensor Materials, Processing, and Fabrication -Chemical and Gas Sensors -Microfluidics and Biosensors -Optical Sensors -Physical Sensors: Temperature, Mechanical, Magnetic, and others -Acoustic and Ultrasonic Sensors -Sensor Packaging -Sensor Networks -Sensor Applications -Sensor Systems: Signals, Processing, and Interfaces -Actuators and Sensor Power Systems -Sensor Signal Processing for high precision and stability (amplification, filtering, linearization, modulation/demodulation) and under harsh conditions (EMC, radiation, humidity, temperature); energy consumption/harvesting -Sensor Data Processing (soft computing with sensor data, e.g., pattern recognition, machine learning, evolutionary computation; sensor data fusion, processing of wave e.g., electromagnetic and acoustic; and non-wave, e.g., chemical, gravity, particle, thermal, radiative and non-radiative sensor data, detection, estimation and classification based on sensor data) -Sensors in Industrial Practice
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