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Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement
Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of li...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6780987/ https://www.ncbi.nlm.nih.gov/pubmed/31480392 http://dx.doi.org/10.3390/mi10090579 |
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author | Wang, Yancheng Chen, Jianing Mei, Deqing |
author_facet | Wang, Yancheng Chen, Jianing Mei, Deqing |
author_sort | Wang, Yancheng |
collection | PubMed |
description | Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of limited discriminative information. This paper presents a novel method using the finite element modeling (FEM) and phase delay algorithm to investigate the flexible tactile sensor array for slippage and grooved surfaces discrimination when sliding over an object. For FEM modeling, a 3 × 3 tactile sensor array with a multi-layer structure is utilized. For sensor array sliding over a plate surface, the initial slippage occurrence can be identified by sudden changes in normal forces based on wavelet transform analysis. For the sensor array sliding over pre-defined grooved surfaces, an algorithm based on phase delay between different sensing units is established and then utilized to discriminate between periodic roughness and the inclined angle of the grooved surfaces. Results show that the proposed tactile sensor array and surface texture recognition method is anticipated to be useful in applications involving human-robotic interactions. |
format | Online Article Text |
id | pubmed-6780987 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-67809872019-10-30 Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement Wang, Yancheng Chen, Jianing Mei, Deqing Micromachines (Basel) Article Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of limited discriminative information. This paper presents a novel method using the finite element modeling (FEM) and phase delay algorithm to investigate the flexible tactile sensor array for slippage and grooved surfaces discrimination when sliding over an object. For FEM modeling, a 3 × 3 tactile sensor array with a multi-layer structure is utilized. For sensor array sliding over a plate surface, the initial slippage occurrence can be identified by sudden changes in normal forces based on wavelet transform analysis. For the sensor array sliding over pre-defined grooved surfaces, an algorithm based on phase delay between different sensing units is established and then utilized to discriminate between periodic roughness and the inclined angle of the grooved surfaces. Results show that the proposed tactile sensor array and surface texture recognition method is anticipated to be useful in applications involving human-robotic interactions. MDPI 2019-08-30 /pmc/articles/PMC6780987/ /pubmed/31480392 http://dx.doi.org/10.3390/mi10090579 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Wang, Yancheng Chen, Jianing Mei, Deqing Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement |
title | Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement |
title_full | Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement |
title_fullStr | Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement |
title_full_unstemmed | Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement |
title_short | Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement |
title_sort | flexible tactile sensor array for slippage and grooved surface recognition in sliding movement |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6780987/ https://www.ncbi.nlm.nih.gov/pubmed/31480392 http://dx.doi.org/10.3390/mi10090579 |
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