Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach

doi:10.3390/s20102830

IMECH-IR > 流固耦合系统力学重点实验室

	Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach
	Liu C 1; Zhuang YT 2; Nasrollahi A 3; Lu LL(路玲玲)4 ; Haider MF 3; Chang FK 3
发表期刊	SENSORS
	2020-05-01
卷号	20 期号:10 页码:14
摘要	Tactile sensing is paramount for robots operating in human-centered environments to help in understanding interaction with objects. To enable robots to have sophisticated tactile sensing capability, researchers have developed different kinds of electronic skins for robotic hands and arms in order to realize the 'sense of touch'. Recently, Stanford Structures and Composites Laboratory developed a robotic electronic skin based on a network of multi-modal micro-sensors. This skin was able to identify temperature profiles and detect arm strikes through embedded sensors. However, sensing for the static pressure load is yet to be investigated. In this work, an electromechanical impedance-based method is proposed to investigate the response of piezoelectric sensors under static normal pressure loads. The smart skin sample was firstly fabricated by embedding a piezoelectric sensor into the soft silicone. Then, a series of static pressure tests to the skin were conducted. Test results showed that the first peak of the real part impedance signal was sensitive to static pressure load, and by using the proposed diagnostic method, this test setup could detect a resolution of 0.5 N force. Numerical simulation methods were then performed to validate the experimental results. The results of the numerical simulation prove the validity of the experiments, as well as the robustness of the proposed method in detecting static pressure loads using the smart skin.
关键词	robotic tactile sensing electronic skin piezoelectric sensors static pressure load sensing electromechanical impedance-based method
DOI	10.3390/s20102830
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000539323700084
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
项目资助者	National Science Foundation ; National Robotics Initiative[1528145]
论文分区	二类/Q1
力学所作者排名	4
RpAuthor	Liu, Cheng
引用统计	被引频次：11[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://dspace.imech.ac.cn/handle/311007/84786
专题	流固耦合系统力学重点实验室
作者单位	1.Stanford Univ, Dept Mech Engn, Stanford, CA 94305 USA; 2.Zenith Aerosp, Redwood City, CA 94063 USA; 3.Stanford Univ, Dept Aeronaut & Astronaut, Stanford, CA 94305 USA; 4.Chinese Acad Sci, Inst Mech, Key Lab Mech Fluid Solid Coupling Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Liu C,Zhuang YT,Nasrollahi A,et al. Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach[J]. SENSORS,2020,20,10,:14.
APA	Liu C,Zhuang YT,Nasrollahi A,路玲玲,Haider MF,&Chang FK.(2020).Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach.SENSORS,20(10),14.
MLA	Liu C,et al."Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach".SENSORS 20.10(2020):14.

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