A tactile dynamic sensing method for electronic skin

An electronic skin and tactile technology, applied in the field of tactile dynamic perception of electronic skin, can solve problems such as the lack of tactile sense of robots, and achieve the effect of improving the efficiency of dynamic perception

Active Publication Date: 2020-09-25
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of method solves the problem of lack of tactile sense in robots. However, how to use electronic skin perception to accurately measure object motion and realize tactile dynamic perception is a problem faced by existing technologies.

Method used

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  • A tactile dynamic sensing method for electronic skin
  • A tactile dynamic sensing method for electronic skin
  • A tactile dynamic sensing method for electronic skin

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Experimental program
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Embodiment Construction

[0051] Embodiments of the present invention will be described in detail below. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.

[0052] In one embodiment, a method for sensing motion of an object by using an electronic skin is provided, so as to realize tactile dynamic perception of a robot. Specific methods can include:

[0053] (1) Translation and rotation perception

[0054] Although the position and orientation of a moving object always changes, the robot can use the electronic skin in contact with the object to obtain a tactile image. Signals from the e-skin sensors are passed through scanning circuits to produce a tactile image. The sensor can convert the force into a gray value ranging from 0 to 255, so that the tactile image formed by the pixel gray value can represent the distribution of pressure.

[0055] By acquiring tactile images at two different time points during...

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Abstract

The invention discloses a dynamic tactile sensing method for electronic skin. The method comprises the steps of: S1, acquiring a first tactile image and a second tactile image of an object at two different time points in the moving process; S2, translating the first tactile image so that the centroids of the first tactile image and the second tactile image are in the same position, and taking thecentroid of the translated tactile image as a reference point, and measuring the translation amount of the object on a plane by calculating the change between the centroid coordinates before and afterthe translation; and S3, rotating the first tactile image to align the directions of the first tactile image and the second tactile image, and measuring the rotation angle of the object. According tothe dynamic tactile sensing method for the electronic skin, the motion of the object can be accurately measured by using electronic skin perception, thereby realizing the dynamic tactile perception.

Description

technical field [0001] The invention relates to a tactile dynamic sensing method of an electronic skin. Background technique [0002] Although vision has been widely used in robotic sensing research, biomimetic tactile sensing and control capabilities remain major challenges in robotics research. Tactile perception is the basis for dexterous manipulation in robots. When a robot enters an unstructured or dynamic environment, the sense of touch allows the robot to sense contact, detect and control sliding, and ensure safe and stable operation. [0003] Robots with electronic skin sensing can acquire rich features of contact with objects. Electronic skin is an integrated tactile sensor consisting of a large-area flexible substrate and a multifunctional compact sensor array, which has achieved significant research progress in recent years. Compared with sensors used to measure the total force / torque applied to an object, an electronic skin equipped with a high-density sensor ...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): G01P3/68G06T3/60G06T3/40
CPCG01P3/68G06T3/40G06T3/60
Inventor刘厚德谢瑜曾凤陈楚浩梁斌朱晓俊
OwnerSHENZHEN GRADUATE SCHOOL TSINGHUA UNIV