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贾丹妮 《自动化与仪器仪表》2024,(2):242-245
为提高电子音乐的交互性能,提出一种基于压阻式阵列触觉传感器的电子音乐交互方法。该方法通过压阻式阵列触觉传感器主动采集用户触碰信息,并建立触碰压力和不同情绪相对应的数据集;然后通过ELM-ELLA算法对用户情绪进行识别分析;最后在赋予各类歌单情绪标签基础上,通过构建情绪和对应歌单的播放策略,实现电子音乐交互。结果表明,ELM-ELLA算法可利用采集的用户触碰信息分析出用户情绪,且具有持续学习能力,随着算法执行的情绪分析任务的增加,其情绪分析能力也稳步提升;基于传感器技术的电子音乐交互模型输出的音乐,可调节多数人的情绪,基本实现电子音乐交互需求,可提升机器人的个性化服务能力。 相似文献
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结合理论分析和文献报道对现有柔性触觉传感器的主要技术进行了归纳总结,主要包括微机电系统(MEMS)的压阻原理,通过惠斯顿电桥将力转换成电量的基本原理,基于新型材料聚偏二氟乙烯(PVDF)的压电特性,电介质的力学性质与电学性质的耦合作用,以及基于导电橡胶的柔性触觉传感器导电机理和压阻效应。概述了3种主要技术物理特性,总结了3种主要技术应用在柔性触觉传感器上的优缺点和在各个领域上的实际应用,提出了触觉传感器一些有待解决的问题和研究方向。 相似文献
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本文设计了一种基于混合频率激励的三自由度柔性电容触觉传感阵列。每个传感单元中由传感电极层上的四片传感电极和公共电极层上的一片公共电极构成四个电容传感子单元,当四个电容传感子单元按正方形排列时,所测得的接触力将被分解为一组正向压力和两组剪切力分量。信号采样采用混合频率激励的方法替代单频激励,四片传感电极分为激励端和输出端,激励端加载频率分别为f1和f2的两组电压信号Ui1和Ui2,输出端的两组信号通过带通滤波器可提取四组谐波分量,从而实现四个电容传感子单元的电容量测量。该方法简化了信号采样机构,有效实现多维触觉信息的同步检测与分离。每个传感单元在z轴方向的正向压力测试灵敏度为0.17%/mN,x-y轴方向的灵敏度为0.43%/mN。结果表明该触觉传感阵列是一种有价值的可实现低成本触觉传感的新型测量装置。 相似文献
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An innovative tactile sensor is analyzed and verified by intensive experiments. By using micro-cantilever beams, on which
the strain gauge layers (Pt/Ti) are deposited, the corresponding induced strains can be detected and converted into electric
resistance change, with respect to either applied normal stress or shear stress. The four micro-cantilever beams are allocated
in the fashion such that any adjacent beams are perpendicular to each other to decouple any potential measure discrepancy
due to non-ideal orthogonality. In addition, the micro-cantilever beams are curled before hands so that they can concurrently
detect normal stress and shear stress. To be protected from being damaged by strong stress, the curled cantilever beams are
covered up by elastomer material. Therefore, the micro-tactile sensor can detect normal stress up to 250 kPa and shear stress
up to 35 kPa. Besides, since the elastomer is made of PDMS, which is of high bio-compatibility, the tactile sensor can be
used to directly contact with human body. By taking the design and fabrication parameters into account, the curled micro-cantilever
beams, which is of multi-layer structure by polymer/Pt/Ti/Si, can be produced with high yield rate. Finally, the efficacy
of the tactile sensor is verified by experiments via a micro-manipulator, a high-resolution microscope and a force sensor for calibration. 相似文献
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This paper describes the design and fabrication of a flexible three-axial tactile sensor array using advanced polyimide micromachining
technologies. The tactile sensor array is comprised of sixteen micro force sensors and it measures 13 mm × 18 mm. Each micro
force sensor has a square membrane and four strain gauges, and its force capacity is 0.6 N in the three-axial directions.
The optimal positions of the strain gauges are determined by the strain distribution obtained form finite element analysis
(FEA). The normal and shear forces are detected by combining responses from four thin-film metal strain gauges embedded in
a polyimide membrane. In order to acquire force signals from individual micro force sensors, we fabricated a PCB based on
a multiplexer, operational amplifier and microprocessor with CAN network function. The sensor array is tested from the evaluation
system with a three-component load cell. The developed sensor array can be applied in robots’ fingertips, as well as to other
electronic applications with three-axial force measurement and flexibility keyword requirements. 相似文献
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Eun-Soo Hwang Jung-hoon Seo Yong-Jun Kim 《Journal of microelectromechanical systems》2007,16(3):556-563
This paper proposes and demonstrates a novel flexible tactile sensor for both normal and shear load detections. For the realization of the sensor, polyimide and polydimethylsiloxane are used as a substrate, which makes it flexible. Thin metal strain gauges, which are incorporated into the polymer, are used for measuring normal and shear loads. The salient feature of this tactile sensor is that it has no diaphragm-like structures. The unit tactile cell characteristics are evaluated against normal and shear loads. The fabricated tactile sensor can measure normal loads of up to 4 N, and the sensor output signals are saturated against loads of more than 4 N. Shear loads can be detected by different voltage drops in strain gauges. The device has no fragile structures; therefore, it can be used as a ground reaction force (GRF) sensor for balance control in humanoid robots. Four tactile unit sensors are assembled and placed in the four corners of the robots sole. By increasing bump dimensions, the tactile unit sensor can measure loads of up to 2 kgf. When loads are exerted on the sole, the GRF can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion systems. 相似文献
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In this paper, we propose a flexible three-axial tactile sensor array for measuring both normal and shear loads. The sensor array has 16 tactile sensor units based on piezoresistive strain gauge. It is constructed on a Kapton polyimide film using advanced polymer micromachining technologies. Thin metal strain gauges are embedded in polyimide to measure normal and shear loads, which are tested by applying forces from 0 to 1?N. The developed sensor unit had a hysteresis error of about 9% and repeatability error of about 1.31%. The sensor showed a good resulting image when pressed by a circle-shaped object with 10?N loads. The proposed flexible three-axial tactile sensor array can be applied in a curved or compliant surface that requires slip detection and flexibility, such as a robotic finger. 相似文献
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针对目前触觉传感器研究中不能兼有柔韧性、多维力测量和热觉与触觉信号混杂等难题,设计了一种柔性多功能触觉/热觉传感器。介绍了该传感器的基本结构,并基于聚偏氟乙烯( PVDF)薄膜的特性建立了三维力并行测量的数学模型。触觉检测基于PVDF的压电效应,热觉检测基于PVDF的热释电效应。通过对触觉和热觉信号做比例减法运算,从而彻底区分触觉和热觉信号。 相似文献
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针对目前触觉传感器研究中不能兼有柔韧性和多维力测量等难题,设计了一种基于力敏导电橡胶的具有整体两层非对称网状式结构的触觉传感器,通过检测导电橡胶的电阻值变化来分析三维力信息。本文介绍了该传感器的基本结构,并基于理想力敏导电橡胶的力学特性建立了三维力并行测量的数学模型,通过对该模型的求解解决了三维力及各受力点之间复杂的耦合问题。仿真实验结果表明该传感器能够实现对表面任意单点三维力、多点三维力以及三维面力信息的测量。 相似文献
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This paper presents an experimental comparison of tactile array versus force-torque sensing for localizing contact during manipulation. The manipulation tasks involved rotating objects and translating objects using a planar two fingered manipulator. A pin and a box were selected as limiting cases of point and line contact against a cylindrical robot finger tip. Practical implementations of the two sensor types are compared theoretically and experimentally, and three different localization algorithms for the tactile array sensor are considered. Force-torque contact sensing results suffered from difficulties in calibration, transient forces, and low grasp force. Tactile array sensing was immune to these problems and the effect of shear loading was only noticeable for a simple centroid algorithm. The results show that with care, both of these sensing schemes can determine the contact location within a millimeter during real manipulation tasks. 相似文献
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为了满足机器人与外界环境、对象发生接触及交互作用时的触觉感知需求,提出了一种基于光纤布拉格光栅(FBG)的柔性触觉传感器.该传感器采用3×3 FBG阵列作为柔性传感元件,聚二甲基硅氧烷(PDMS)材料构成双层柔性基体.介绍了传感器的传感原理并采用有限元方法对其弹性体进行力学仿真分析,基于标定实验平台完成该传感器的静态标定实验.传感器的空间分辨率为25mm,在10mm×10mm载荷施加单元下,对力的感知范围为0~7N,且传感器具有较好的线性度和灵敏度,重复性和一致性良好,力灵敏度为0.16nm/N.实验结果和分析研究都证明了柔性触觉传感器的可行性.该传感器与人体皮肤触感及结构极为相似,且布线简单、抗干扰能力强. 相似文献