| 谷可欣,李 红,李坤阳,宋言明,孙广开,祝连庆.软体仿生机械手柔性触觉感知技术研究进展[J].电子测量与仪器学报,2022,36(8):13-27 |
| 软体仿生机械手柔性触觉感知技术研究进展 |
| Research progress of flexible tactile sensing technology forsoft biomimetic manipulator |
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| DOI： |
| 中文关键词: 软体仿生机械手 触觉感知 柔性触觉传感器 敏感材料 光纤 |
| 英文关键词:soft bionic manipulator tactile sensing flexible tactile sensor sensitive material optical fiber |
| 基金项目:国家自然科学基金（61903042）、北京市自然科学基金（4194077，4212048）、生物医学检测技术及仪器北京实验室纵向课题（Z2018020）、北京市自然基金 市教委联合基金(KZ201911232044)项目资助 |
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| 中文摘要: |
| 柔性触觉感知信息获取是软体仿生机械手自主操纵的关键反馈环节,它提供了关于仿生机械手和物体接触点的相互作
用力和表面特性的信息。 从敏感材料、结构设计、制备方法到信号获取分析等方面,应用于软体机械手的柔性触觉感知方法近
年来取得了一定进展,但是存在若干问题限制了技术的应用发展。 为此,梳理了软体仿生机械手柔性触觉感知的概念与内涵,
分析了相关的重要参数和设计原则,汇总分类讨论了不同结构的柔性触觉传感器的设计思想及其性能和应用,最后对软体仿生
机械手柔性触觉传感器的发展前景提出了展望与思考。 |
| 英文摘要: |
| The acquisition of flexible tactile perception information is the key feedback of soft bionic manipulator to achieve autonomous
control. The information of interaction force and surface characteristics is provided, which is generated between the bionic manipulator
and grasping contact point. In recent years, although the flexible tactile sensing method applied to software manipulator has made some
progress in sensitive materials, structural design, preparation methods and signal acquisition and analysis, there are some problems that
limit the application and development of the technology. In view of this, this paper sorts out the concept and connotation of flexible
tactile sensing technology for software bionic manipulator, and its related parameters and design principles are systematically analyzed.
The design ideas, performance and applications of flexible tactile sensors with different structures are summarized, classified and
discussed. Finally, the discussion and the prospect of development for the flexible tactile sensor for soft bionic manipulator are presented
in the conclusion. |
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