Thin Shell Tactile Sensing by Acoustic Wave Diffraction Patterns

摘要：

Most of the humanoid robots are covered with curved thin shells. To have a sensitive shell on the robot, normally we need to add an extra layer of electrodes or sensors. In this paper, we realized a tactile shell based on a Lamb wave diffraction method. Surface-contact sensing is calibrated and tested with a finger; the spatial resolution is 17 × 13 on a 100 mm × 75 mm projected-dimension surface. Structure of the tactile shell comprises only four small (25 mm2 × 0.5 mm) piezoelectric ceramics transducers bonded to the edges of the shell. The sensing results have good accuracy with response time less than 15 ms, the presented method is able to be used for a humanoid robot’s whole-body tactile sensing.

关键词： Tactile sensing curved shell Lamb wave diffraction

作者: Yuan Liu Nazih Mechbal Jean-Pierre Nikolovski Moustapha Hafez Michel Vergé

作者单位: Arts et Métiers ParisTech,PIMM (C.N.R.S 8106),151 Bd de lHopital,75013 Paris,France CEA,LIST,Sensory and Ambient Interfaces Laboratory,92265 Fontenay-aux-Roses,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5929-5934

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）