他们听到我滚动：一种分布式滚动声触觉传感器的设计和表征

IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Sensors Letters Pub Date : 2025-09-04 DOI:10.1109/LSENS.2025.3606337

Wilfred Mason;David Brenken;Olivier St-Martin Cormier;Audrey Sedal

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引用次数: 0

摘要

触觉传感器的设计在厘米尺度上得到了广泛的探索；在具有不同几何形状的更大尺度系统中存在较少的勘探。我们提出了一种基于柔性声波导的轮式机器人平台的米级触觉传感器。这种传感器结构通过与传感表面分离的单个传感器在旋转车轮表面上执行接触传感。介绍了传感器的设计和特性，以及使用触觉传感器反馈测量表面特征的状态估计框架的演示。

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They Hear Me Rolling: Design and Characterization of a Distributed, Rolling Acoustic-Tactile Sensor

Tactile sensor design has been widely explored at the centimeter-scale; fewer explorations exist in larger scale systems with varied geometries. We present a meter-scale tactile sensor for wheeled robotic platforms based on a flexible acoustic waveguide. This sensor architecture performs contact sensing over the surface of a rotating wheel with a single transducer that is separated from the sensing surface. The design and characterization of the sensor are presented, along with a demonstration of a state-estimation framework using tactile sensor feedback to measure surface features.

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来源期刊

IEEE Sensors Letters Engineering-Electrical and Electronic Engineering

CiteScore

3.50

自引率

7.10%

发文量

194