用于几何特征识别的柔性触觉感知系统研究  

Research on flexible tactile perception system for geometric feature identification

作　　者：余婉婷 孙勇智[1,2] 李津蓉 张以涛[1,2] 丁祎 YU Wanting;SUN Yongzhi;LI Jinrong;ZHANG Yitao;DING Yi(School of Automation and Electrical Engineering,Zhejiang University of Science and Technology,Hangzhou 310023,China;Key Institute of Robotics Industry of Zhejiang Province,Hangzhou 310023,China)

机构地区：[1]浙江科技学院自动化与电气工程学院,浙江杭州310023 [2]浙江省机器人产业学院,浙江杭州310023

出　　处：《传感器与微系统》2025年第3期62-66,共5页Transducer and Microsystem Technologies

基　　金：教育部产学合作协同育人项目(201902321004);浙江科技学院研究生科研创新基金资助项目(2021YJSKC06)。

摘　　要：针对视觉感知对光照条件要求高、无法对不可见区域和遮挡区物体进行检测的问题,提出了一种可用于物体几何特征识别的小型化柔性触觉感知系统。建立了触觉感知系统多物理场数学模型,通过有限元分析研究了不同接触深度条件下物体几何特征对接触表面形变、应力分布和感知电极阵列电压的影响。研究结果表明,该系统可以通过电极阵列电压数据识别接触物体大小、形状和接触深度,具有良好的几何感知能力。A small-scale flexible tactile perception system is proposed to identify geometric features of object,aiming at the problem that visual perception requires high lighting conditions and cannot detect objects in invisible and occluded areas.A mathematical model of the tactile sensing system in the form of a multi-physical field is established and finite element analysis is used to thoroughly study the influence of geometric features of the object on surface deformation,stress distribution,and voltage of the sensing electrode array.The research results show that the system has strong geometric perception ability and can identify the size,shape,and contact depth of objects through electrode array voltage data.

关 键 词：触觉感知 几何特征 多物理场仿真 形状识别 

分 类 号：TP242.61[自动化与计算机技术—检测技术与自动化装置]