Abstract：
Tactile sensors play an important role when robots perform contact tasks, such as physical information collection, force or displacement control to avoid collision. For these manipulations, excessive contact may cause damage while poor contact cause information loss between the robotic end-effector and the objects. Inspired by skin structure and signal transmission method, this paper proposes a tactile sensing system based on the self-sensing soft pneumatic actuator (S-SPA) capable of providing tactile sensing capability for robots. Based on the adjustable height and compliance characteristics of the S-SPA, the contact process is safe and more tactile information can be collected. And to demonstrate the feasibility and advantage of this system, a robotic hand with S-SPAs could recognize different textures and stiffness of the objects by touching and pinching behaviours to collect physical information of the various objects under the positive work states of the S-SPA. The result shows the recognition accuracy of the fifteen texture plates reaches 99.4%, and the recognition accuracy of the four stiffness cuboids reaches 100%by training a KNN model. This safe and simple tactile sensing system with high recognition accuracies based on S-SPA shows great potential in robotic manipulations and is beneficial to applications in domestic and industrial fields.
摘要：
当机器人执行接触任务时，触觉传感器起着重要作用，例如物理信息收集，力或位移控制，以避免碰撞。对于这些操作，过度接触可能会导致损坏，而不良接触会导致机器人末端执行器和物体之间的信息丢失。受皮肤结构和信号传输方法的启发，本文提出了一种基于自感知软气动执行器（S-SPA）的触觉传感系统，能够为机器人提供触觉传感能力。基于S-SPA的可调高度和顺应性特性，接触是安全和准确的触觉信息可以收集。并论证了本系统的可行性和优越性,具有S-SPA的机器手可以通过触摸和捏合行为来识别物体的不同纹理和刚度，以收集在S-SPA的正功状态下各种物体的物理信息。结果表明，15个纹理板的识别准确率达到99.4%，通过训练KNN模型,四个刚度长方体的识别准确率达到100%。这种基于S-SPA的具有高识别精度的安全简单的触觉传感系统在机器人操作中显示出巨大的潜力，并有利于在国内和工业领域的应用。
