如果机器人要进行稳定的抓握和灵巧的操作,实时多轴分布式触觉感知是至关重要的能力,因为它提供了有关传感器-对象接口的重要信息。在本文中,我们提出了一种基于光学的六轴触觉传感器,设计为指尖形状,用于机器人灵巧操作。分布式传感器可以精确估计10个不同位置处的局部XYZ力和位移,并提供全局XYZ力和扭矩测量。其紧凑的尺寸,相当于人类的拇指,最小的厚度允许无缝集成到现有的机器人手指上,消除了对夹持器进行复杂修改的需要。所提出的传感器设计使用一个简单的,低成本的制造方法。此外,光学转换方法利用光角度和强度传感来推断力和位移的变形的个别传感单元,形成整个传感器,提供分布式六轴传感。X中每个传感单元的局部力精度,Y,Z轴为20.89mN,19.19mN,和43.22mN,分别,在X和Y中大约±1.5N和Z中0至-2N的局部力范围内。X中的局部位移精度,Y,Z轴为56.70μm,50.18μm,和13.83μm,分别,XY方向的局部位移范围为±2mm,Z方向为0至-1.5mm(即,压缩)。此外,传感器可以测量全局扭矩,Tx,泰,还有Tz,精度为1.90N-mm,1.54N-mm,和1.26N-mm,分别。通过将其与OnRobotRG2夹持器集成并在简单的演示任务中说明实时测量来展示制造设计,产生了不断变化的全球力量和扭矩。
Real-time multi-axis
distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor-object interface. In this paper, we present an optical-based six-axis tactile sensor designed in a fingertip shape for robotic dexterous manipulation. The
distributed sensor can precisely estimate the local XYZ force and displacement at ten distinct locations and provide the global XYZ force and torque measurements. Its compact size, comparable to that of a human thumb, and minimal thickness allow seamless integration onto existing robotic fingers, eliminating the need for complex modifications to the gripper. The proposed sensor design uses a simple, low-cost fabrication method. Moreover, the optical transduction approach uses light angle and intensity sensing to infer force and displacement from deformations of the individual sensing units that form the overall sensor, providing
distributed six-axis sensing. The local force precision at each sensing unit in the X, Y, and Z axes is 20.89 mN, 19.19 mN, and 43.22 mN, respectively, over a local force range of approximately ±1.5 N in X and Y and 0 to -2 N in Z. The local displacement precision in the X, Y, and Z axes is 56.70 μm, 50.18 μm, and 13.83 μm, respectively, over a local displacement range of ±2 mm in the XY directions and 0 to -1.5 mm in Z (i.e., compression). Additionally, the sensor can measure global torques, Tx, Ty, and Tz, with a precision of of 1.90 N-mm, 1.54 N-mm, and 1.26 N-mm, respectively. The fabricated design is showcased by integrating it with an OnRobot RG2 gripper and illustrating real-time measurements during in simple demonstration task, which generated changing global forces and torques.