Manipulator based on touch sensor

Abstract

The invention discloses a manipulator based on a touch sensor. The manipulator comprises a manipulator body, a sensor array, a sensor data collector and a sensor data processing unit. The manipulator with the touch sensor array is integrated, touch perception of a reality object is achieved, a data storage scheme is provided, relative contact senses, pressure senses, sliding senses and other touch sense information of the contact object are kept permanently, and follow-up touch sense representation and object analysis are facilitated.

Description

technical field [0001] The invention relates to the technical field of human-computer interaction, in particular to a manipulator based on a touch sensor. Background technique [0002] The sense of touch is one of the important forms for most organisms in nature to obtain information from the external environment. The sense of touch in the broad sense refers to the synthesis of contact, pressure, sliding, temperature, humidity, etc., while the sense of touch in the narrow sense refers to the sense of force on the contact surface. The concepts of touch, pressure, and slip are included. The sense of touch has very important practical significance for the degree of presence and interactivity in virtual reality technology. Tactile sensors are sensors used in robots to mimic the function of touch. Its research began in the 1970s. In the course of more than 40 years of development, researchers at home and abroad have made great achievements in the research of sensor working mech...

AI Technical Summary

Problems solved by technology

Especially when the flexible tactile sensor is applied in a non-planar shape, the measurement error is greater

The above disadvantages lead to errors between the data measured by the sensor and the actual force, which will eventually affect the accuracy and precision of the entire detection system and bring great difficulties to the wide application of large-scale three-dimensional tactile sensor arrays on curved surfaces.

[0010] Due to the above-mentioned problems in the design and manufacture of the tactile sensor array, which are unfavorable to the wide application of the tactile sensor array, it is necessary to calibrate the sensor

However, there are few calibration platforms for tactile sensor arrays on curved surfaces, and even rarer three-dimensional calibration devices for such large-scale flexible tactile sensor arrays.

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