Highly efficient recognition of similar objects based on ionic robotic tactile sensors  

作　　者：Yongkang Kong Guanyin Cheng Mengqin Zhang Yongting Zhao Wujun Meng Xin Tian Bihao Sun Fuping Yang Dapeng Wei 

机构地区：[1]Chongqing Key Laboratory of Generic Technology and System of Service Robots,Chongqing Institute of Green and Intelligent Technology,Chinese Academy of Sciences,Chongqing 400714,China [2]School of Computer Science and Technology,Chongqing University of Posts and Telecommunications,Chongqing 400065,China

出　　处：《Science Bulletin》2024年第13期2089-2098,共10页科学通报（英文版）

基　　金：supported by the Open Project of the State Key Laboratory of Trauma and Chemical Poisoning(SKL202102);the Key R&D and Transformation of Science and Technology Projects in Tibet Autonomous Region(XZ2022RH001);Chongqing Talents Program(CQYC2020030146);the Project of Chongqing Science and Technology Bureau(cstc2021ycjh-bgzxm0345);Chongqing Bayu Scholar Program(DP2020036);Chongqing Entrepreneurship and Innovation Support Program for Overseas Students Returning to China.

摘　　要：Tactile sensing provides robots the ability of object recognition,fine operation,natural interaction,etc.However,in the actual scenario,robotic tactile recognition of similar objects still faces difficulties such as low efficiency and accuracy,resulting from a lack of high-performance sensors and intelligent recognition algorithms.In this paper,a flexible sensor combining a pyramidal microstructure with a gradient conformal ionic gel coating was demonstrated,exhibiting excellent signal-to-noise ratio(48 dB),low detection limit(1 Pa),high sensitivity(92.96 kPa^(-1)),fast response time(55 ms),and outstanding stability over 15,000 compression-release cycles.Furthermore,a Pressure-Slip Dual-Branch Convolutional Neural Network(PSNet)architecture was proposed to separately extract hardness and texture features and perform feature fusion.In tactile experiments on different kinds of leaves,a recognition rate of 97.16%was achieved,and surpassed that of human hands recognition(72.5%).These researches showed the great potential in a broad application in bionic robots,intelligent prostheses,and precise human–computer interaction.

关 键 词：Tactile recognition Conformal ionic gel coating Flexible sensors Dual-branch convolutional neural network 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]