机械与电子Issue(7)：69-72,4.
新型五指仿人型机器人灵巧手触觉传感器设计及其静态标定
Design and Static Calibration of a Novel Tactile Sensor for Five-fingered Dexterous Robot Hand
摘要
Abstract
This paper presents the design of a novel miniature tactile sensor for HIT/DLR II five - fingered dexterous robot hand and explains its operating principle. The sensor is based on a pie-zoresistive mechanism with a highly integrated and miniaturized design. The elastic architecture of the proposed sensor is also described. Multiple electrodes are mounted on the sensor surface, using rows - column scanning for the data acquisition. The static calibration experiment results indicate satisfactory correlation between the measured characteristic and the model' s calculation has been achieved within the measured range.关键词
机器人灵巧手/触觉传感器/压阻式/传感器标定Key words
dexterous robot hand/ tactile sensor/piezoresistive/sensor calibration分类
计算机与自动化引用本文复制引用
吴克,樊绍巍,陈兆芃 ,刘宏,蔡鹤皋..新型五指仿人型机器人灵巧手触觉传感器设计及其静态标定[J].机械与电子,2011,(7):69-72,4.基金项目
国家"八六三"计划资助项目(2006AA04Z255) （2006AA04Z255）
