Multi-mode touch sensing device

A tactile perception, multi-modal technology, applied in the direction of manipulators, manufacturing tools, etc., to achieve the effect of easy identification, less cracks, and protection from wear and tear

Active Publication Date: 2018-06-15
TSINGHUA UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the existing tactile sens

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[0022] The multi-modal tactile sensing device proposed by the present invention is described in detail with reference to the drawings and embodiments as follows:

[0023] The overall structure of the multi-modal tactile sensing device proposed by the present invention is as follows figure 1 As shown, the tactile sensing device is worn at the fingertips of the robot's dexterous hand, and includes a shell composed of a U-shaped base 7 and a top cover 1. The shell is provided with an image capture camera 9, a multi-array pressure sensor 10, and multiple supports. Structural components and a transparent elastic body 2, and the upper part of the transparent elastic body 2 protrudes from the top cover 1. The image capture camera 9 is fixedly connected to the base 7 through the camera support plate 8, and the multi-array pressure sensor 10 is located above the image capture camera 9 And it is supported by shoulders 7-1 fixed at the four corners of the base 7. The multi-array pressure sen...

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Abstract

The invention provides a multi-mode touch sensing device, and belongs to the technical field of robot sensors. The multi-mode touch sensing device comprises a shell, wherein an image acquisition camera, a multi-array pressure sensor, multiple support structure components and a transparent elastomer are arranged in the shell, and the upper part of the transparent elastomer protrudes out of the toppart of the shell; the image acquisition camera is fixedly connected to the bottom part of the shell through a camera supporting plate; the multi-array pressure sensor is located above the image acquisition camera and is supported by the bottom part of the shell, the multi-array pressure sensor is provided with a light-transmitting hole, and the upper surface of the multi-array pressure sensor isprovided with transparent supporting blocks used for supporting the transparent elastomer; uniformly distributed light emitters are arranged on the periphery of the lower part of the transparent elastomer; and temperature sensors are arranged at the positions, protrudes out of the top part of the shell, of the periphery of the transparent elastomer. According to the multi-mode touch sensing device, the measurement of multi-mode information such as stress, texture and temperature is integrated in the same sensing device, and the touch sensing device has the advantages of being simple and compact in structure, high in measuring precision, capable of being repeatedly used and wide in application range.

Description

technical field [0001] The invention relates to a multi-modal tactile sensing device, which belongs to the technical field of robot sensors. Background technique [0002] The robotic dexterous hand needs to be able to perform various operations such as grasping, moving, pinching or fixing objects. During the operation, the tactile feedback of the dexterous hand must be used to achieve precise control of the operating force and avoid damage to the manipulated object. There are many kinds of conventional dexterous hand sensors, including piezoresistive, capacitive, photoelectric, etc., that is, the strength of the sensor can be judged by the change of resistance, capacitance, and light intensity under the applied force. However, these sensors have some shortcomings, such as sensors based on voltage or capacitance changes are sensitive to noise and temperature changes, and can only detect vertical force, not shear force. [0003] In order to overcome the above problems, vision...

Claims

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Application Information

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IPC IPC(8): B25J19/02B25J19/04
CPCB25J19/02B25J19/04
Inventor 孙富春方斌薛红香张春胡传波刘华平夏子炜
Owner TSINGHUA UNIV
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