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

作　　者：吴克[1] 樊绍巍[1] 陈兆芃[1] 刘宏[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机械与电子》2011年第7期69-72,共4页Machinery & Electronics

基　　金：国家八六三"计划资助项目(2006AA04Z255)

摘　　要：介绍一种应用于HIT/DLR II五指仿人型机器人灵巧手的新型触觉传感器,并对该传感器的工作原理进行阐述.该触觉传感器基于压阻原理,具有高度集成和微型化的特点.该传感器采用了柔性结构设计,表面嵌入多个电极,传感器数据通过电极列阵进行扫描采集.最后,进行了传感器的静态标定实验,验证了传感器性能.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 piezoresistive 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 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]