传感技术学报2018，Vol.31Issue(6)：891-897,7.DOI:10.3969/j.issn.1004-1699.2018.06.014
一种可感知三维力的新型柔性触觉传感器及滑觉识别算法研究
Research on a Novel Flexible 3-Axis Tactile Sensor and Slip Recognition Algorithm
摘要
Abstract
Aimed at the requirement of 3-axis force perception and slip recognition for intelligent robot skin during soft grasping, a flexible 3-axial tactile sensor, fabricated by carbon ( CB ) , graphene nanoplatelets ( GNPs ) and silicone rubber( SR) was proposed. Finite element method( FEM) had been employed to explain the operation princi-ple and to optimize the characteristic parameters of the proposed sensor. Based on the proposed sensor,a designed algorithm fused withdiscrete wavelet transform ( DWT ) , phase space reconstruction ( PSR ) and support vector machine( SVM) is utilized to realize recognition of slipping state. The flexible sensor and the fusion algorithm could have promising application in recognition of slipping state during the robot grasp task.关键词
三维力触觉传感器/相空间重构/滑觉识别/融合算法/软抓取Key words
3-axis tactile sensor/phase space reconstruction/slip recognition/fusion algorithm/soft grasp分类
信息技术与安全科学引用本文复制引用
毛磊东,黄英,郭小辉,张阳阳,刘平..一种可感知三维力的新型柔性触觉传感器及滑觉识别算法研究[J].传感技术学报,2018,31(6):891-897,7.基金项目
国家自然科学基金项目(61471155) （61471155）
国家自然科学基金面上项目(61673369) （61673369）
