Nondestructive identification of softness via bioinspired multisensory electronic skins integrated on a robotic hand  

作　　者：Ye Qiu Shenshen Sun Xueer Wang Kuanqiang Shi Zhiqiang Wang Xiaolong Ma Wenan Zhang Guanjun Bao Ye Tian Zheng Zhang Hao Ding Hao Chai Aiping Liu Huaping Wu 

机构地区：[1]College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310023,China [2]Key Laboratory of Special Purpose Equipment and Advanced Processing Technology,Ministry of Education and Zhejiang Province,Zhejiang University of Technology,Hangzhou 310023,China [3]Collaborative Innovation Center of High-end Laser Manufacturing Equipment(National“2011 Plan”),Zhejiang University of Technology,Hangzhou,China [4]College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China [5]Zhijiang College of Zhejiang University of Technology,Shaoxing 312030,China [6]Center for Optoelectronics Materials and Devices,Zhejiang Sci-Tech University,Hangzhou 310018,China

出　　处：《npj Flexible Electronics》2022年第1期479-488,共10页npj-柔性电子（英文）

基　　金：supported by National Natural Science Foundation of China (Grant no.11672269,11972323,and 12002308);Zhejiang Provincial Natural Science Foundation of China (Grant no.LQ22A020009,LR20A020002,LR18E050002,LR19E020004,LZY21E030002,D21F030003,and LSY19H180004);Fundamental Research Funds for the Provincial Universities of Zhejiang (RF-B2019004);111 Project (No.:D16004);Department of Education of Zhejiang Province (Y202043208).

摘　　要：Tactile sensing is essentially required for dexterous manipulation in robotic applications.Mimicking human perception of softness identification in a non-invasive fashion,thus achieving satisfactory interaction with fragile objects remains a grand challenge.Here,a scatheless measuring methodology based on the multisensory electronic skins to quantify the elastic coefficient of soft materials is reported.This recognition approach lies in the preliminary classification of softness by piezoelectric signals with a modified machine learning algorithm,contributing to an appropriate contact force assignment for subsequent quantitative measurements via strain sensing feedback.The integration of multifunctional sensing system allows the manipulator to hold capabilities of selfsensing and adaptive grasping motility in response to objects with the various softness(i.e.,kPa-MPa).As a proof-of-concept demonstration,the biomimetic manipulator cooperates with the robotic arm to realize the intelligent sorting of oranges varying in freshness,paving the way for the development of microsurgery robots,human-machine interfacing,and advanced prosthetics.

关 键 词：robotic ELECTRONIC ORANGE 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]