Flexible tactile sensor and method for detecting infomation of tactile sensation

Abstract

A flexible tactile sensor and a tactile information detection method. The sensor is composed of a magnetic rubber working surface, an elastic interlayer, a magnetic sensitive array, a glass substrate and a signal processing circuit. The magnetic rubber working surface and the elastic interlayer can adapt to the surface shape of the target object through flexible deformation, and at the same time cause the spatial distribution of the magnetic field to change. Change, and then change the output current of each magneto-sensing unit in the magneto-sensing array. The quantitative relationship between the output current of each magnetic sensitive unit in the magnetic sensitive array and the deformation of the magnetic rubber can be calibrated by neural network technology, and the contact position, the spatial distribution of the contact force and the Tactile information such as the local shape of the target object. The flexible tactile sensor can be applied in the field of robot technology, and can be installed on the surface of the manipulator gripper or the finger surface of the robot finger to improve the reliability of the process of grasping and conveying, and can also be installed around the body of the mobile robot for use. to avoid obstacles.

Description

technical field [0001] The invention relates to the field of robot sensors, in particular to a flexible tactile sensor and a tactile information detection method. The sensor can adapt to the surface shape of the target object. After successful development, it can be applied in the field of robot technology. It can be installed on the surface of the manipulator gripper or the finger surface of the robot finger, etc., to obtain the contact position and contact force in a "soft touch" manner. Tactile information such as the spatial distribution and the local shape of the target object can improve the reliability of the process of grasping and transmission, and can also be installed around the body of the mobile robot for obstacle avoidance. Background technique [0002] The tactile sensor is one of the extremely important sensors of the robot. According to the information provided by the tactile sensor, the robot can grasp the target object and further perceive its physical pro...

AI Technical Summary

Problems solved by technology

This kind of sensor is not very flexible in terms of design and use, the size is too large, the diameter of only a single power receiving coil reaches 22mm, the spatial resolution is very low, and the sensitive element depends on the coil array connected to the computer at the bottom, so It's not really a tactile sensor that works wirelessly

The sensor has only produced a principle demonstration prototype at present, and has not developed a practical product

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