Robot simulation whisker tactile sensor with controllable shape and detection method

Abstract

The invention relates to a robot simulation whisker tactile sensor with a controllable shape and a detection method. The sensor comprises a piezoelectric sheet, a substrate, shape memory alloy and a probe. The shape memory alloy is divided into two parts which are respectively connected to the piezoelectric sheet and the substrate. The other end of the shape memory alloy is connected with the probe so that a cantilever beam structure is formed. The invention also provides a detection system formed through use of the sensor and a sensing method. The method comprises steps of firstly, using thesensor as a motor coupling system to carry out parameter identification so as to obtain the relation between the electrical impedance of the sensor and the mechanical impedance of a to-be-detected object; by combining the voltage and the current on the piezoelectric sheet, acquiring the frequency spectrums of the force and the movement generated by the sensor so as to obtain a sensing equation expression sensing the mechanical characteristics and touch information of the to-be-detected object; and driving the shape memory alloy to control the shape of the whisker through an electrical signal so as to allow the shape memory alloy to be suitable for constraints of special environments (such as blood vessels, intestinal tracts, transmission pipelines and exhausting and heat dissipation holes)of narrow and bent pipelines and tasks.

Description

technical field [0001] The invention relates to a tactile sensor, in particular to a shape-controllable whisker tactile sensor for robot environment perception. Background technique [0002] The robot perceives the surrounding environment information through the sensor, so as to carry out the task in the unknown environment. At present, robots mainly rely on visual sensors to perceive the environment, but visual perception is easily disturbed by factors such as light, smog, dust, blind spots, etc., resulting in a decrease in reliability or even being unsuitable for certain occasions. However, some animals in nature, such as mice and seals, can sense the environment and prey information through their whiskers in harsh environments such as caves and muddy water, so as to carry out tasks such as movement and hunting without relying on vision. Inspired by this, the bionic whisker sensor has begun to develop and has become a new research hotspot in robot perception technology. ...

AI Technical Summary

Problems solved by technology

[0003] However, the existing whisker tactile sensors are usually based on passive whiskers, whose shape cannot be changed once determined, and are only suitable for open environments, and cannot adapt to restricted environments by changing the shape, such as narrow and curved environments such as slender pipes.

In addition, although the existing whisker sensors can sense the position and contact force of the object, they cannot provide mechanical characteristic information such as stiffness, mass, and damping of the object surface.

The lack of this information brings difficulties for robots to carry out tasks such as object recognition and manipulation.

Finally, existing whisker sensors use complex structures to realize position and contact force perception, which further leads to problems such as high cost and difficulty in miniaturization

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