消除惯性力对机器人腕力传感器输出的影响

由于惯性力的影响，机器人腕力传感器输出的六维信号不能准确反映机械手夹持器与外界环境接触力的大小，理论分析表明，为了消除惯性力对输出的影响，必须知道机械手工作时的加速度，介绍了用以消除惯性力对腕力传感器输出的影响的方法，并详细叙述了腕力传感器中加速度计的设计。     

压电薄膜振动传感器灵敏度与频响标定研究

近年来,压电薄膜振动传感器发展十分迅速,已被广泛应用于结构健康监测、医疗电子、加速度、器件振动等测量。该文针对压电薄膜振动传感器的性能检测,设计了一套以可调频激振台作为核心的压电传感器灵敏度与频响特性标定装置。振动信号由可调频激振台提供,标准压电传感器与自制传感器同步进行振动测试。测试结果表明,该装置可方便地实现对被测传感器灵敏度和频率响应特性的标定。标定系统整体设计简单,操作方便。同时系统体积小,稳定性高,测量误差小,便于对各种类型的压电振动传感器进行检测,具有很强的实用性和广阔的发展空间。基于该系统对自制压电薄膜传感器性能的标定,研究了压电薄膜传感器灵敏度的影响因素。     

高分子压电材料在机器人传感器中的应用

压电高聚物被认为是机器人用传感器的理想材料。它具有耐磨、量轻、灵敏度高、声学阻抗低、容易固定在复杂的表面、价格便宜,频带宽等特点。本文主要介绍新近研制的几种压电高聚物机器人用传感器的结构、原理、及其主要性能和应用。     

基于PVDF的表面计测传感特性分析与应用

探讨了聚偏氯乙烯（PVDF）压电薄膜的传感特性,建立了一套包括电荷放大器、数据采集器的计算机信号处理系统,为PVDF传感器用于应变测试提供了理论基础。该文根据PVDF压电薄膜压电特性设计的表面计测传感器,具有压电系数高,柔韧性好,质量轻,易粘贴和价格低廉等优点。将该传感器用于粗糙度测试,实验表明该表面计测传感器能敏感地识别纸张粗糙度的变化。     

机器人用PVDF触觉传感器的国外研究现状

目前,国内外对具有人类功能的机器人操作器和灵巧手展开了广泛的研究,其中触觉传感器是一个主要方面。由于PVDF（聚偏二氟乙烯）压电薄膜具有压电能力高、柔韧、极薄、质轻等特点,其许多特性接近人类皮肤的特性,尤其受到研究人员的关注。文章从PVDF薄膜的原理和特性出发,展开介绍了国外机器人用PVDF触觉传感器的研究现状。     

三角剪切式微震监测压电加速度传感器设计

针对现有应用于矿井突水动力灾害防治微震监测传感器存在灵敏度低及频率范围窄的问题,该文提出了一种基于三角剪切式结构的微震监测压电加速度传感器。首先建立了压电加速度传感器的力学模型,对与固有频率和灵敏度有关的结构及材料参数进行了分析;然后设计了三角剪切型压电加速度传感器结构,探讨了压电陶瓷材料的选择,再利用ANSYS建立了压电加速度传感器有限元结构模型,分别对传感器进行模态分析、谐振响应分析与压电分析。仿真结果表明,设计的压电加速度传感器的工作频率和灵敏度满足微震监测要求。最后对设计的压电加速度传感器进行了标定和微震信号检测试验。结果表明,该传感器的谐振频率为6 300 Hz,工作频率为0.1~2 100 Hz,电荷灵敏度为34.626 pC/(m·s^-2)时,可完成对微震信号的检测,且具有宽频率范围和高灵敏度。     

压电驱动的六足爬行机器人的设计与制造

该文提出了一种基于压电驱动的六足爬行机器人的整体设计与制造方案,并对六足爬行机器人进行了动力学建模。介绍了爬行机器人碳纤维连杆传动机构的原理,并提出了各部分零部件的加工方案。介绍了压电驱动器多层材料叠合的复合结构加工工艺,对压电驱动器进行了性能测试,并将其应用到爬行机器人样机上。在280 V的直流偏置电压下,总质量4.631 g的爬行机器人样机完成了爬行运动测试,验证了压电驱动的六足爬行机器人设计方案的可行性。     

高温压电加速度传感器设计与仿真优化

高温压电加速度传感器被广泛应用于振动与冲击测试、故障诊断与监测方面。针对传统压电加速度传感器灵敏度温度漂移过大的问题,该文设计了一种高温压电加速度传感器,该加速度传感器采用正负温度系数的压电元件堆叠设计,以抵消温度变化的影响,进而降低温度漂移。5层YCOB压电元件和1层GdCOB压电元件堆叠构成压缩型压电加速度传感器。应用ANSYS对传感器的性能进行仿真优化,并对提出的降低灵敏度温度漂移的方法有效性进行了仿真验证。结果表明,在常温～800℃全温度范围内,该传感器的灵敏度温度漂移小于±3%,其具有高温稳定性好、测量精度高的优点。     

压电免疫传感器的研制

介绍了压电免疫传感器的压电质量传感原理、免疫反应及压电免疫传感过程。设计了压电液相谐振电路。测定了压电石英晶体的品质参数。实验结果表明，与现有检测方法相比，压电免疫传感器具有快速、准确、所需样品少、操作简单等特点。     

基于PVDF/GO纳米复合薄膜的柔性压电传感器

为了解决有机柔性压电传感器压电输出较小的问题,设计了一种基于聚偏氟乙烯(PVDF)掺杂氧化石墨烯(GO)的柔性压电传感器.介绍了该传感器的制备方法,对比了有无掺杂GO对传感器压电输出性能的影响,并且分别对它们进行了相关测试.结果表明,掺杂质量分数0.5％的GO后,PVDF中的p相结晶度提升了16.7％,且传感器具有更高...     

A novel hand exoskeleton to enhance fingers motion for tele-operation of a robot gripper with force feedback☆

This research describes a robotic system's design, optimization, and implementation processes for tele-operation with haptic feedback using the Hand Exoskeleton of New technologies research center (HEXON) as a novel haptic mechanism and the HEXON robotic gripper to work collaboratively with the exoskeleton. In particular, a force-sensitive robotic gripper is connected to a hand exoskeleton, mimics the user's hand movements, and transfers haptic feedback through the exoskeleton. The two-finger exoskeleton's design process consists of a multi-criteria optimization procedure to simultaneously maximize applied force to the finger and workspace of the attached exoskeleton, optimizing both the Perpendicular Impact Force (PIF) and the Global Isotropy Index (GII), considering worst-case collision avoidance. Due to the tele-operation application and using a robotic arm as a slave in the remote scenario, the gripper can be used as an end-effector for a palletizing 3-DOF robotic arm, and movement of the gripper can be achieved by using a visual sensor to pinpoint the user's hand location in 3D space. With the aim of the stress analysis software, the exoskeleton and gripper designs were analyzed to evaluate the system strength against applied forces. Finally, based on the achieved results, the gripper and two-fingered exoskeleton prototypes were fabricated. Simulations and experimental results are reported, showing the potential of the HEXON in haptics and tele-operation applications, and the exoskeleton is used to operate a robotic arm and gripper while the user can perceive the objects virtually.     

Optimizing robotic performance

Various types of force/torque sensor systems and components for robotic applications are available. Depending on the user's requirements, selecting the correct sensor system may be a challenge. A selection guide is presented which provides the basic information needed to optimize system application     

A novel airflow sensor for miniature mobile robots

A novel airflow sensor has been developed for applications involving miniature chemical sensing robots. Information about air movement is essential for robots when they are searching for the sources of chemical plumes. The airflow sensor described here measures both wind direction and velocity at airflow rates commonly encountered in an indoor environment. Measurements are made by rotating a small paddle in the airflow. The varying speed of the paddle is analysed to determine both wind speed and direction. Low power consumption and rugged construction make the sensor well suited to robotic applications. The prototype sensor is small enough to fit on a mobile robot measuring only 10 cm in diameter. This paper presents the sensor operating principle, construction and some experimental results.     

Multi‐Layered,Hierarchical Fabric‐Based Tactile Sensors with High Sensitivity and Linearity in Ultrawide Pressure Range

Resistive tactile sensors based on changes in contact area have been extensively explored for a variety of applications due to their outstanding pressure sensitivity compared to conventional tactile sensors. However, the development of tactile sensors with high sensitivity in a wide pressure range still remains a major challenge due to the trade‐off between sensitivity and linear detection range. Here, a tactile sensor comprising stacked carbon nanotubes and Ni‐fabrics is presented. The hierarchical structure of the fabrics facilitates a significant increase in contact area between them under pressure. Additionally, a multi‐layered structure that can provide more contact area and distribute stress to each layer further improves the sensitivity and linearity. Given these advantages, the sensor presents high sensitivity (26.13 kPa^?1) over a wide pressure range (0.2–982 kPa), which is a significant enhancement compared with the results obtained in previous studies. The sensor also exhibits outstanding performances in terms of response time, repeatability, reproducibility, and flexibility. Furthermore, meaningful applications of the sensor, including wrist‐pulse‐signal analysis, flexible keyboards, and tactile interface, are successfully demonstrated. Based on the facile and scalable fabrication technique, the conceptually simple but powerful approach provides a promising strategy to realize next‐generation electronics.     

A robust compliant grasper via shape deposition manufacturing

Joint compliance can enable successful robot grasping despite uncertainties in target object location. Compliance also enhances manipulator robustness by minimizing contact forces in the event of unintended contacts or impacts. In this paper, we describe the design, fabrication, and evaluation of a novel compliant robotic grasper constructed using polymer-based shape deposition manufacturing. Joints are formed by elastomeric flexures, and actuator and sensor components are embedded in tough rigid polymers. The result is a robot gripper with the functionality of conventional metal prototypes for grasping in unstructured environments but with robustness properties that allow for large forces due to inadvertent contact.     

An optical fibre sensor for use in a tissue cutting tool

This pre-study investigates a fibre optic alternative to more conventional sensors for measuring force indirectly as bending or deflection in a medical robotic application. The paper discusses problems regarding the integration of fibre optics into a cutting tool for the removal of prostate gland tissue. The aim is to integrate the sensor in a tube rod with an inner diameter of 0.6 mm and use it as a force feedback sensor for the control system of the robot. The paper proposes and evaluates an inexpensive opto-mechatronic device for launching light into and detecting light received from an optical fibre. A simple sensor prototype is constructed to show the feasibility to use a fibre optic sensor for the prostate gland cutting tool.     

Contact Imaging: Simulation and Experiment

We report simulated and experimental image quality for contact imaging, a method for imaging objects close to the sensor surface without intervening optics. This technique preserves microscale resolution for applications that can not tolerate the size or weight of conventional optical elements. In order to assess image quality, we investigated the spatial resolution of contact imaging, which depends on the sensor size as well as the distance between objects and the sensor surface. We studied how this distance affects image quality using a commercial optical simulator. Simulation results show that the image quality degrades as objects move away from the sensor surface. To experimentally validate these results, an image sensor was designed and fabricated in a commercially available three metal, two poly, 0.5 mum CMOS technology. Experiments with the contact imager corroborate the simulation results. Two specific applications of contact imaging are demonstrated.     

Highly Stretchable,Elastic, and Ionic Conductive Hydrogel for Artificial Soft Electronics

High conductivity, large mechanical strength, and elongation are important parameters for soft electronic applications. However, it is difficult to find a material with balanced electronic and mechanical performance. Here, a simple method is developed to introduce ion‐rich pores into strong hydrogel matrix and fabricate a novel ionic conductive hydrogel with a high level of electronic and mechanical properties. The proposed ionic conductive hydrogel is achieved by physically cross‐linking the tough biocompatible polyvinyl alcohol (PVA) gel as the matrix and embedding hydroxypropyl cellulose (HPC) biopolymer fibers inside matrix followed by salt solution soaking. The wrinkle and dense structure induced by salting in PVA matrix provides large stress (1.3 MPa) and strain (975%). The well‐distributed porous structure as well as ion migration–facilitated ion‐rich environment generated by embedded HPC fibers dramatically enhances ionic conductivity (up to 3.4 S m^?1, at f = 1 MHz). The conductive hybrid hydrogel can work as an artificial nerve in a 3D printed robotic hand, allowing passing of stable and tunable electrical signals and full recovery under robotic hand finger movements. This natural rubber‐like ionic conductive hydrogel has a promising application in artificial flexible electronics.     

The military applications of remote sensing by infrared

Remote sensing is the process of acquiring information from the environment by the use of a sensor that is not in physical contact with the object under study. The military services are experienced practitioners of this old, but newly glamorous, art. Their accomplishments in the infrared, that region lying between visible light on the one hand and microwaves on the other, are both impressive and of increasing importance. Our purpose is to provide an overview of these accomplishments. We begin with a brief treatment of the characteristics and peculiarities of the infrared portion of the spectrum and of the sensors that operate there. Early military experience with remote sensing by infrared is described and an applications matrix is developed in order to provide a perspective from which the reader can view the full panorama of military applications. Specific applications ate discussed. These include strategic systems for early warning of intercontinental ballistic missile launches, methods for the detection of atmospheric contaminants, such as poison gas, under field conditions, aids for the precision delivery of weaponry (including passive, active, and laser designator guidance techniques), and sensor systems for reconnaissance and surveillance. Wherever possible, details of sensor performance are given.     

Characterization and experimental results of a novel sensor for measuring the contact force from myenteric contractions

The intraluminal pressures and traction forces associated with the migrating motor complex are well understood; however, the contact forces directly exerted by the bowel wall on a solid, or near solid, bolus have not previously been measured. Quantifying contact forces is an important component to understanding the net force experienced by an in vivo robotic capsule endoscope. In this paper, we develop a novel sensor, the migrating motor complex force sensor (MFS), for measuring the contact force generated by the contracting myenteron of the small intestine. The MFS consists of a perfused manometer connected to four torus-shaped balloons custom formed of natural latex rubber and embedded with temperature and pressure sensors. Force exerted on the balloon causes sensor pressure change. In vivo, the MFS measures the magnitude and axial location of contact pressure exerted by the myenteron. The device is tested in vivo in a live porcine model on the middle small bowel. The mean total force per centimeter of axial length of intestine that occurred over a 16-min interval in vivo was 1.04 N·cm (-1) in the middle region of the small intestine; the measured force is in the range of theoretical values.