论文标题
全适中软机器人手指的可扩展触觉感测
Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger
论文作者
论文摘要
与柔软的材料和兼容结构制成的机器人手指通常会在与非结构化物理环境相互作用时会导致卓越的适应性。在本文中，我们提出了一种使用光纤的嵌入式感应溶液，用于全方位自适应软机器人手指，并在各个方向上具有特殊的适应性。特别是，我们设法在手指的结构腔内插入一对光纤，而不会干扰其自适应性能。最终的集成可作为一种多功能，低成本和防潮的解决方案可扩展，可用于物理安全的人类机器人相互作用。此外，我们对对象排序任务进行了试验，并在$ \ pm $ 6mm误差中确定了94 \％对象的截面直径，并在$ \ pm $ \ pm $ 0.1mm/mm/mm误差范围内测量了80 \％的结构性应变。提出的传感器设计在未来的软机器人技术中为非结构化环境中的可扩展和适应性物理相互作用打开了许多门。
Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for an omni-adaptive soft robotic finger with exceptional adaptation in all directions. In particular, we managed to insert a pair of optical fibers inside the finger's structural cavity without interfering with its adaptive performance. The resultant integration is scalable as a versatile, low-cost, and moisture-proof solution for physically safe human-robot interaction. In addition, we experimented with our finger design for an object sorting task and identified sectional diameters of 94\% objects within the $\pm$6mm error and measured 80\% of the structural strains within $\pm$0.1mm/mm error. The proposed sensor design opens many doors in future applications of soft robotics for scalable and adaptive physical interactions in the unstructured environment.
