Large-area magnetic skin for multi-point andmulti-scale tactile sensingwith superresolution  

作　　者：Hao Hu Chengqian Zhang Xinyi Lai Huangzhe Dai Chengfeng Pan Haonan Sun Daofan Tang Zhezai Hu Jianzhong Fu Tiefeng Li Peng Zhao 

机构地区：[1]The State Key Laboratory of Fluid Power and Mechatronic Systems,College of Mechanical Engineering,Zhejiang University,Hangzhou,310027,China [2]The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province,College of Mechanical Engineering,Zhejiang University,Hangzhou,310027,China [3]Center for X-Mechanics,Department of Engineering Mechanics,Zhejiang University,310027 Hangzhou,China [4]School of Electrical Engineering,Zhejiang University,310027 Hangzhou,China

出　　处：《npj Flexible Electronics》2024年第1期475-486,共12页npj-柔性电子(英文)

基　　金：supported in part by the National Key R&D Program of China under Grant 2022YFC2401903;in part by the National Natural Science Foundation of China under Grant 52205424;in part by the“Pioneer”and“Leading Goose”R&D Program of Zhejiang Province under Grant 2023C01170;in part by Zhejiang Provincial Natural Science Foundation of China under Grant LY23A020001.

摘　　要：The advancements in tactile sensor technology have found wide-ranging applications in robotic fields,resulting in remarkable achievements in object manipulation and overall human-machine interactions.However,the widespread availability of high-resolution tactile skins remains limited,due to the challenges of incorporating large-sized,robust sensing units and increased wiring complexity.One approach to achieve high-resolution and robust tactile skins is to integrate a limited number of sensor units(taxels)into a flexible surface material and leverage signal processing techniques to achieve super-resolution sensing.Here,we present a magnetic skin consisting of multi-direction magnetized flexible films and a contactless Hall sensor array.The key features of the proposed sensor include the specific magnetization arrangement,K-Nearest Neighbors(KNN)clustering algorithm and convolutional neural network(CNN)model for signal processing.Using only an array of 4*4 taxels,our magnetic skin is capable of achieving super-resolution perception over an area of 48400mm^(2),with an average localization error of 1.2 mm.By employing neural network algorithms to decouple the multidimensional signals,the skin can achieve multi-point and multi-scale perception.We also demonstrate the promising potentials of the proposed sensor in intelligent control,by simultaneously controlling two vehicles with trajectory mapping on the magnetic skin.

关 键 词：RESOLUTION MAGNETIC network 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]