CN105841856A - Whisker sensor for perceiving three-dimensional force displacement and three-dimensional force of contact point - Google Patents
Whisker sensor for perceiving three-dimensional force displacement and three-dimensional force of contact point Download PDFInfo
- Publication number
- CN105841856A CN105841856A CN201610304479.7A CN201610304479A CN105841856A CN 105841856 A CN105841856 A CN 105841856A CN 201610304479 A CN201610304479 A CN 201610304479A CN 105841856 A CN105841856 A CN 105841856A
- Authority
- CN
- China
- Prior art keywords
- spring
- cross
- dimensional force
- flexible antenna
- antenna
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
Abstract
The invention discloses a whisker sensor for perceiving three-dimensional force displacement and a three-dimensional force of a contact point. The whisker sensor is installed on a robot body, the whisker sensor comprises a cross elastic beam (1), strain gauges (8), a flexible whisker (3), a contact ball (4), a spring (7) and a sleeve (5), wherein the cross elastic beam (1) is of a hollow structure and comprises four elastic beams (2) arranged inside, a wheel rim and four wheel rim screw holes (6), the four elastic beams (2) are intersected in pairs to form an angle of 90 degrees and thus form a cross shape, and the upper surface, the lower surface, the left side surface and the right side surface are each provided with a strain gauge (8) in an adhesive mode; the four wheel rim screw holes (6) are symmetrically distributed at the upper surface of the cross elastic beam (1) for fixing the position of the sensor; and the flexible whisker (3) is installed at the center of the cross elastic beam (1). According to the invention, accurate positioning of a target object can be realized.
Description
Technical field
The present invention relates to a kind of Whisker Sensor, specifically a kind of flexible Whisker Sensor, it is possible to perception three-dimensional force displacement and three-dimensional force also realize the precise positioning to target.
Background technology
Robot perception technology is intelligent robot decision-making and the basis of control and support, how perception environmental information under circumstances not known, carries out navigating, path planning and automatic obstacle avoiding are becoming new study hotspot.The Main Means of perception external information has vision, audition, power to feel and sense of touch, the main method imitation human vision principle of robot perception external information is carried out at present, but under low visibility or dark situations, simple dependence vision sensor cannot meet requirement.In the case, touch sensor arises at the historic moment.
Artificial antenna is the most conventional sensing device, existing sensor installs micro-machine or other driving means at antenna end mostly, it is used for scanning profile and the profile information of object perceptual object, shortcoming is that scanning needs the plenty of time, it is impossible to provide enough information be used for avoidance or position target in the robot of walking at a high speed.
For solving the quick avoidance of robot and target orientation problem, the present invention proposes one and by installing spring structure, displacement is changed into force information at antenna end, pass to the strain gauge pasted on cross spring beam, the most quickly to position by the resistance change of strain gauge.
Summary of the invention
Technical problem: the invention aims to solve above-mentioned technical problem, proposes the Whisker Sensor of a kind of perception contact point three-dimensional force displacement and three-dimensional force.When robot is near target object, this sensor utilizes the side-play amount of spring structure perception antenna end, then by flexible antenna, spring force information passes to be arranged on the cross spring beam of antenna root, thus realizes being accurately positioned target object.
Technical scheme: for solving above-mentioned technical problem, the invention provides the Whisker Sensor of a kind of perception contact point three-dimensional force displacement and three-dimensional force, this Whisker Sensor is arranged on robot body, and this Whisker Sensor includes cross spring beam, flexible antenna, contact ball, spring and sleeve pipe；
Described cross spring beam is hollow structure, and including being built in internal four spring beams, wheel rim and four wheel rim screws, wherein, four described spring beams interact in 90 ° two-by-two, forms cross, and its upper and lower surface pastes strain gauge with left and right side；Four described wheel rim screws are symmetrically distributed in cross spring beam upper surface, are used for fixing sensing station；Described strain gauge is pasted onto upper and lower surface and the left and right side of four spring beams near flexible antenna root.
Described flexible antenna is arranged on cross spring beam center, stretches out from the cross intersection point of four spring beams；The upper and lower two ends of spring by spring leaf respectively with flexible antenna end and to contact ball connected；Sleeve pipe and spring concentric are also surrounded on spring outer surface, upper surface with contact ball coincidence.
Preferably, described flexible antenna uses flexible metal wire material, is used for transmitting spring force information to cross spring beam.
Preferably, four described spring beam cross sections are rectangle respectively, and the cross section of flexible antenna is circular.
Preferably, flexible antenna end connects contact ball by spring.
Preferably, diameter 0.6mm～1mm of flexible antenna, length 100mm～150mm.
Beneficial effect:
1, cross elastic beam structure combines the structure design of spring, can simultaneously perception three-dimensional force displacement and three-dimensional force, it is achieved that displacement is converted into the measurement measuring one's own ability physics, so that it is determined that target object location.
Deforming during the contact ball contact target object of 2, flexible antenna end, the existence of spring structure ensures that during noncontact, antenna side-play amount is zero.
3, the design of micro two-dimensional strain gauge and application achieve the miniaturization of Whisker Sensor.Use micro two-dimensional strain gauge by all strain gauge adhesions on cross spring beam, paster area can be greatly reduced, it is achieved thereby that the miniaturization of Whisker Sensor.
4, simple and compact for structure, it is easy to Finish & Workmanship process.The present invention retains the advantage of cross elastic beam structure, simple in construction, it is easy to processing, retinoic acid syndrome is little.
5, linear, reproducible, certainty of measurement is high.
Accompanying drawing explanation
Fig. 1 is sensor of the invention overall structure schematic diagram.
Fig. 2 is sensor of the invention strain gauge paste position schematic top plan view.
Fig. 3 is the Whisker Sensor top generalized section of the present invention.
Fig. 4 is Whisker Sensor force analysis schematic diagram of the present invention.
Label in figure: cross spring beam 1, four spring beams 2, flexible antenna 3, contact ball 4, sleeve pipe 5, wheel rim screw 6, spring 7, strain gauge 8.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
See shown in Fig. 1 to Fig. 4, a kind of perception contact point three-dimensional force displacement of present invention offer and the Whisker Sensor of three-dimensional force, this Whisker Sensor is arranged on robot body, and this Whisker Sensor includes cross spring beam 1, strain gauge 8, flexible antenna 3, contact ball 4, spring 7 and sleeve pipe 5.
Described cross spring beam 1 is in hollow structure, including being built in internal four spring beams 2, wheel rim and four wheel rim screws 6, wherein, four described spring beams 2 interact in 90 ° two-by-two, composition cross, its upper and lower surface pastes strain gauge 8 with left and right side；Four described wheel rim screws 6 are symmetrically distributed in cross spring beam 1 upper surface, are used for fixing sensing station.
Described flexible antenna 3 is arranged on cross spring beam 1 center, stretches out from the cross intersection point of four spring beams 2；Spring about 7 two ends by spring leaf respectively with flexible antenna 3 end and to contact ball 4 connected；Sleeve pipe 5 and spring 7 concentric are also surrounded on spring 7 outer surface, and upper surface overlaps with contacting ball 4.
Described flexible antenna 3 uses flexible metal wire material, flexible antenna 3 can regard the transfer beams of Whisker Sensor as, is used for transmitting spring force information to cross spring beam 1.
The cross section of four described spring beams 2 is rectangle respectively, and the cross section of flexible antenna 3 is circular.
Flexible antenna 3 end connects contact ball 4 by spring 7.When contact ball 4 contacts or scans object, spring 7 can make X, Y-direction that elastic deformation can occur, it is ensured that during noncontact, antenna 3 side-play amount is zero.
Diameter 0.6mm～1mm of flexible antenna 3, length 100mm～150mm.
Described strain gauge 8 is pasted onto upper and lower surface and the left and right side of four spring beams 2 near flexible antenna 3 root.
The structure that Whisker Sensor uses cross spring beam 1 to combine spring 7 achieves the conversion that displacement is measured one's own ability to physics.
Described strain gauge is sensing element, it is pasted onto upper and lower surface and the left and right sides of four spring beams of close flexible antenna, deformation along with flexible antenna, strain gauge length changes, resistance wire resistance in strain gauge also changes, the deformation that i.e. external force produces is converted into resistance sizes change, thus realizes the transformation to the signal of telecommunication；
The compression property that draws that the Whisker Sensor of the present invention uses cross elastic beam structure to combine spring achieves the conversion that displacement is measured one's own ability to physics.
(1) cross spring beam
Seeing shown in Fig. 1, Fig. 2 and Fig. 3, cross spring beam 1 includes that four spring beams 2 and four wheel rim screws 6, four spring beams 2 intersect two-by-two and is mutually 90 degree, forms cross；The fixing of Whisker Sensor is achieved with coordinating of screw by four wheel rim screws 6；Strain gauge 8 is posted in the upper and lower surface of four spring beams on cross spring beam 1 and the left and right sides, when the contact ball on Whisker Sensor top touches target object, spring 7 stress effect is by generation compression or stretching, pass to cross spring beam 1 by flexible antenna 3, cause the resistance of the strain gauge pasted on elastomer to change.
(2) strain gauge
Shown in Figure 2, strain gauge 8 is pasted onto upper and lower surface and the left and right side of four spring beams 2 near flexible antenna 3 root, and along with distortional elastomer, the resistance of strain gauge 8 can change.
(3) flexible antenna
Seeing shown in Fig. 1 and Fig. 3, the root of flexible antenna 3 is arranged on cross spring beam 1 center, extends from the intersection point of four spring beams 2；The end of flexible antenna 3 connects spring 7 by spring leaf, and transmission spring force information gives cross spring beam 1；Described flexible antenna uses flexible metal wire material, has good toughness and elasticity；
(4) contact ball
Seeing shown in Fig. 1 and Fig. 3, for improving the flexible antenna 3 sliding ability on scanning object and contactant surface, install minor diameter contact ball 4 in one end of spring 7 by spring leaf, contact ball 4 is the sensitive body of Whisker Sensor, for perception contact force information；
(5) spring
See shown in Fig. 1 and Fig. 3, spring 7 is fixed between contact ball 4 and flexible antenna 3, when contacting ball 4 and contacting or scan object, in other words by under External Force Acting, spring 7 will deform with flexible antenna 3 simultaneously, spring 7 can make the flexible antenna 3 side-play amount when noncontact ensures to be zero, and elastic deformation i.e. occurs.
(6) sleeve pipe
Seeing shown in Fig. 1 and Fig. 3, sleeve pipe 5 is arranged on flexible antenna 3 end, with flexible antenna 3, spring 7 and contact ball 4 concentric；The upper surface of sleeve pipe 5 overlaps with the lower surface contacting ball 4, and when the upper surface of contact ball 4 is by External Force Acting, while spring 7 compresses or stretches, sleeve pipe 5 moves the most downward or upward.The Whisker Sensor of present invention design is how to obtain the displacement of antenna 3 end according to the side-play amount of spring 7 just to become the work that the present invention is to be completed.
Seeing as shown in Figure 4, take passive perceptive mode to be analyzed flexible antenna, under external force, the axis of flexible antenna is become the curve of continuous and derivable from straight line.Setting up x-axis along the antenna axis before deformation, the longitudinal direction along antenna cross section sets up y-axis, with the fixing end of flexible antenna for length that initial point o, l are flexible antenna.Assuming that object to be detected is a cuboid, object is along y-axis negative direction uniform motion.Because the deformation of antenna belongs to thin tail sheep skew, it is believed that the amount of tension approximately equivalent of spring is in the displacement △ X of antenna end.According to spring force formula: F=kx, k represent spring force coefficient, it is known that external force F and the displacement of antenna that antenna is subject to are proportional, the value that the most only need to obtain spring force F just can get displacement △ X.
Directed force F is delivered on cross spring beam by flexible antenna, causing the strain gauge resistance being pasted onto on spring beam to change, changing so that acting on ohmically voltage signal, it is achieved the measurement of power.
As can be seen here, combine the compression property that draws of spring by cross elastic beam structure and achieve the high-acruracy survey of displacement.
A kind of perception contact point three-dimensional force displacement disclosed by the invention and the Whisker Sensor of three-dimensional force, contact ball is non-sensitive part, and for perception axial force, flexible antenna transmits force information as transfer beams.The Whisker Sensor of the present invention belongs to the detection device part of robot, and Whisker Sensor is arranged on robot body, and optimum position is mounted in the front end of robot body.When robot body is near target object, this Whisker Sensor is contacted by contact ball or scanning target object, spring can bend and compress, the strain gauge resistance then causing the stickup on cross spring beam changes, and then realize the detection of displacement is converted into the measurement measuring one's own ability physics, target is accurately positioned by final realization.
Claims (5)
1. the displacement of perception contact point three-dimensional force and a Whisker Sensor for three-dimensional force, this Whisker Sensor is installed
On robot body, it is characterised in that: this Whisker Sensor includes cross spring beam (1), strain gauge
(8), flexible antenna (3), contact ball (4), spring (7) and sleeve pipe (5)；
Described cross spring beam (1) in hollow structure, including be built in inside four spring beams (2),
Wheel rim and four wheel rim screws (6), wherein, four described spring beams (2) interact in 90 ° two-by-two,
Composition cross, its upper and lower surface pastes strain gauge (8) with left and right side；Four described wheel rim screws (6)
It is symmetrically distributed in cross spring beam (1) upper surface, is used for fixing sensing station；Strain gauge (8) is pasted
Upper and lower surface and left and right side four spring beams (2) near flexible antenna (3) root；
Described flexible antenna (3) is arranged on cross spring beam (1) center, from four spring beams (2)
Cross intersection point stretch out；Spring (7) up and down two ends by spring leaf respectively with flexible antenna (3)
End is connected with contacting ball (4)；Sleeve pipe (5) and spring (7) concentric are also surrounded on spring (7) appearance
Face, upper surface overlaps with contacting ball (4).
Perception contact point three-dimensional force displacement the most according to claim 1 and the Whisker Sensor of three-dimensional force,
It is characterized in that: described flexible antenna (3) uses flexible metal wire material, be used for transmitting spring force information to
Cross spring beam (1).
Perception contact point three-dimensional force displacement the most according to claim 1 and the Whisker Sensor of three-dimensional force,
It is characterized in that: the cross section of four described spring beams (2) is rectangle respectively, the horizontal stroke of flexible antenna (3)
Cross section is circular.
Perception contact point three-dimensional force displacement the most according to claim 1 and 2 senses with the antenna of three-dimensional force
Device, it is characterised in that: flexible antenna (3) end connects contact ball (4) by spring (7).
Perception contact point three-dimensional force displacement the most according to claim 1 and 2 senses with the antenna of three-dimensional force
Device, it is characterised in that: diameter 0.6mm～1mm of flexible antenna (3), length 100mm～150mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610304479.7A CN105841856B (en) | 2016-05-10 | 2016-05-10 | A kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610304479.7A CN105841856B (en) | 2016-05-10 | 2016-05-10 | A kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105841856A true CN105841856A (en) | 2016-08-10 |
| CN105841856B CN105841856B (en) | 2019-01-29 |
Family
ID=56591680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610304479.7A Active CN105841856B (en) | 2016-05-10 | 2016-05-10 | A kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105841856B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036803A (en) * | 2017-11-29 | 2018-05-15 | 兰州大学 | A kind of bionical antenna device based on fiber grating |
| CN108061615A (en) * | 2017-11-29 | 2018-05-22 | 兰州大学 | A kind of array method for three-dimensional measurement based on quasi-distributed fiber grating |
| CN108332794A (en) * | 2018-02-09 | 2018-07-27 | 中国科学院电子学研究所 | Biomimetic tactile system and multi-function robot |
| CN108972601A (en) * | 2018-08-10 | 2018-12-11 | 佛山科学技术学院 | A kind of end effector perceiving three-dimensional force |
| CN108995582A (en) * | 2018-07-06 | 2018-12-14 | 甘肃省机械科学研究院有限责任公司 | The automatic detection system of cropper pilot's line of vision blind area barrier and detection method |
| CN109269706A (en) * | 2018-10-26 | 2019-01-25 | 东南大学 | A kind of view-based access control model sensor legged type robot foot end multi-dimensional force sensing device |
| WO2019024575A1 (en) * | 2017-07-31 | 2019-02-07 | 东南大学 | Three-dimensional whisker sensor for accurate positioning of tail end location |
| WO2019059849A1 (en) * | 2017-09-22 | 2019-03-28 | Nanyang Technological University | 3d-structured sensors having stretchable multi-functional tactile electronic hairs |
| CN111830570A (en) * | 2020-07-15 | 2020-10-27 | 大连海事大学 | Bionic mouse whisker sensor |
| CN111991088A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN111991089A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
| CN112057172A (en) * | 2020-09-10 | 2020-12-11 | 苏州大学 | Minimally invasive surgery robot |
| CN112556729A (en) * | 2020-11-26 | 2021-03-26 | 北京理工大学 | Active bionic tentacle sensor and device |
| CN112763751A (en) * | 2020-12-16 | 2021-05-07 | 北京理工大学 | Shape recognition method and system based on passive whisker sensor |
| CN114279598A (en) * | 2021-12-24 | 2022-04-05 | 南昌工程学院 | Touch sensor based on Fe-Ga silk |
| CN117147040A (en) * | 2023-11-01 | 2023-12-01 | 中北大学 | Flexible conformal bionic whisker sensor |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1294615A (en) * | 1970-04-30 | 1972-11-01 | Joseph M Starita | Force measuring apparatus |
| CN2032318U (en) * | 1988-03-19 | 1989-02-08 | 哈尔滨工业大学 | Strain type three dimensional tactile sensor for robot contingency meeting type |
| EP0852332A2 (en) * | 1997-01-07 | 1998-07-08 | Matsushita Electric Industrial Co., Ltd. | Load sensing structure |
| DE10032363C2 (en) * | 1999-07-07 | 2003-12-18 | Agency Ind Science Techn | Force-torque sensor with six degrees of freedom attached to a fingertip |
| CN1982860A (en) * | 2005-12-16 | 2007-06-20 | 中国科学院合肥物质科学研究院 | Three-dimensional finger sensor and its information acquiring method |
| CN101308051A (en) * | 2008-07-01 | 2008-11-19 | 西安交通大学 | Three-dimensional micro- force silicon micro- sensor |
| CN201561825U (en) * | 2009-09-29 | 2010-08-25 | 西北工业大学 | Elastomer of six-dimensional force sensor |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
-
2016
- 2016-05-10 CN CN201610304479.7A patent/CN105841856B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1294615A (en) * | 1970-04-30 | 1972-11-01 | Joseph M Starita | Force measuring apparatus |
| CN2032318U (en) * | 1988-03-19 | 1989-02-08 | 哈尔滨工业大学 | Strain type three dimensional tactile sensor for robot contingency meeting type |
| EP0852332A2 (en) * | 1997-01-07 | 1998-07-08 | Matsushita Electric Industrial Co., Ltd. | Load sensing structure |
| EP0852332A3 (en) * | 1997-01-07 | 1998-07-29 | Matsushita Electric Industrial Co., Ltd. | Load sensing structure |
| DE10032363C2 (en) * | 1999-07-07 | 2003-12-18 | Agency Ind Science Techn | Force-torque sensor with six degrees of freedom attached to a fingertip |
| CN1982860A (en) * | 2005-12-16 | 2007-06-20 | 中国科学院合肥物质科学研究院 | Three-dimensional finger sensor and its information acquiring method |
| CN101308051A (en) * | 2008-07-01 | 2008-11-19 | 西安交通大学 | Three-dimensional micro- force silicon micro- sensor |
| CN201561825U (en) * | 2009-09-29 | 2010-08-25 | 西北工业大学 | Elastomer of six-dimensional force sensor |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
Non-Patent Citations (1)
| Title |
|---|
| 杨盛义: "面向心脏手术的机器人触须传感器基础研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019024575A1 (en) * | 2017-07-31 | 2019-02-07 | 东南大学 | Three-dimensional whisker sensor for accurate positioning of tail end location |
| US11454560B2 (en) | 2017-07-31 | 2022-09-27 | Southeast University | Three-dimensional whisker sensor for accurate positioning of end location |
| US11572270B2 (en) | 2017-09-22 | 2023-02-07 | Nanyang Technological University | 3D-structured sensors having stretchable multi-functional tactile electronic hairs |
| WO2019059849A1 (en) * | 2017-09-22 | 2019-03-28 | Nanyang Technological University | 3d-structured sensors having stretchable multi-functional tactile electronic hairs |
| CN108061615A (en) * | 2017-11-29 | 2018-05-22 | 兰州大学 | A kind of array method for three-dimensional measurement based on quasi-distributed fiber grating |
| CN108036803A (en) * | 2017-11-29 | 2018-05-15 | 兰州大学 | A kind of bionical antenna device based on fiber grating |
| CN108061615B (en) * | 2017-11-29 | 2021-01-26 | 兰州大学 | Array type three-dimensional measurement method based on quasi-distributed fiber bragg grating |
| CN108332794A (en) * | 2018-02-09 | 2018-07-27 | 中国科学院电子学研究所 | Biomimetic tactile system and multi-function robot |
| CN108995582B (en) * | 2018-07-06 | 2021-07-20 | 甘肃省机械科学研究院有限责任公司 | Automatic detection system and detection method for obstacles in blind area of sight of driver of harvester |
| CN108995582A (en) * | 2018-07-06 | 2018-12-14 | 甘肃省机械科学研究院有限责任公司 | The automatic detection system of cropper pilot's line of vision blind area barrier and detection method |
| CN108972601A (en) * | 2018-08-10 | 2018-12-11 | 佛山科学技术学院 | A kind of end effector perceiving three-dimensional force |
| CN108972601B (en) * | 2018-08-10 | 2024-03-26 | 佛山科学技术学院 | End effector capable of sensing three-dimensional force |
| CN109269706A (en) * | 2018-10-26 | 2019-01-25 | 东南大学 | A kind of view-based access control model sensor legged type robot foot end multi-dimensional force sensing device |
| CN111830570A (en) * | 2020-07-15 | 2020-10-27 | 大连海事大学 | Bionic mouse whisker sensor |
| WO2022052322A1 (en) * | 2020-09-10 | 2022-03-17 | 苏州大学 | Minimally invasive surgical robot and distal end holder thereof |
| CN111991089A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
| CN111991088A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN111991088B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN112057172B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot |
| CN111991089B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
| WO2022052320A1 (en) * | 2020-09-10 | 2022-03-17 | 苏州大学 | Minimally invasive surgery robot |
| CN112057172A (en) * | 2020-09-10 | 2020-12-11 | 苏州大学 | Minimally invasive surgery robot |
| CN112556729A (en) * | 2020-11-26 | 2021-03-26 | 北京理工大学 | Active bionic tentacle sensor and device |
| CN112556729B (en) * | 2020-11-26 | 2021-08-27 | 北京理工大学 | Active bionic tentacle sensor and device |
| CN112763751A (en) * | 2020-12-16 | 2021-05-07 | 北京理工大学 | Shape recognition method and system based on passive whisker sensor |
| CN114279598A (en) * | 2021-12-24 | 2022-04-05 | 南昌工程学院 | Touch sensor based on Fe-Ga silk |
| CN117147040A (en) * | 2023-11-01 | 2023-12-01 | 中北大学 | Flexible conformal bionic whisker sensor |
| CN117147040B (en) * | 2023-11-01 | 2024-01-26 | 中北大学 | Flexible conformal bionic whisker sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105841856B (en) | 2019-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105841856A (en) | Whisker sensor for perceiving three-dimensional force displacement and three-dimensional force of contact point | |
| CN103954382B (en) | A kind of change medium-type electric capacity flexible 3 D force-touch sensor | |
| CN102175388B (en) | Three-dimensional calibration device for curve flexible touch sensor array | |
| Ye et al. | A review on applications of capacitive displacement sensing for capacitive proximity sensor | |
| CN105643641B (en) | Force sensor caliberating device, scaling method and force control robot | |
| CN106017839B (en) | Based on flexible, hinged plate benging and twisting vibration detection control apparatus and method | |
| CN109489874B (en) | Carbon fiber flexible pressure distribution sensing device and force measuring method thereof | |
| US8132468B2 (en) | Flexural deformation sensing device and a user interface using the same | |
| Kim et al. | A dexterous robot hand with a bio-mimetic mechanism | |
| CN107393599B (en) | Integrate the quick deflection platform of two dimension and method of sensing unit and confinement element | |
| CN107655392A (en) | A kind of three-dimensional Whisker Sensor for being accurately positioned terminal position | |
| CN105066863A (en) | Displacement sensor based on electroactive elastomer polymer | |
| US10127835B2 (en) | Capacitive touch sensor | |
| CN107478119A (en) | Digital display calliper and digitlization gage measuring system | |
| CN103600353B (en) | A kind of method that terminal-collecting machine detects group material edge | |
| CN103322920B (en) | A kind of measuring method of expansion of laser light displacement sensor measurement range | |
| EP1997218B1 (en) | Self-sensing actuator and method of controlling thereof | |
| CN103806665B (en) | The elastically-deformable antidote of pump truck puma arm and device | |
| Zhao et al. | A novel biomimetic whisker technology based on fiber Bragg grating and its application | |
| CN104237561A (en) | Spatial acceleration measuring method and device based on fiber grating curvature sensing network | |
| CN109099827B (en) | Method for detecting posture of pen body through capacitance and electromagnetic positioning double sensors | |
| CN100449270C (en) | Multiple node tree structure artificial vibrissa proximity-sensing sensor | |
| CN101750010B (en) | Dual-roller non-contact type thickness measuring system | |
| CN113188591B (en) | Self-powered multi-mode sensing device and method for space on-orbit assembly robot | |
| CN102529278A (en) | Cross-shaped correcting mechanism of chip mounter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 210009 No. 87 Dingjiaqiao, Gulou District, Nanjing City, Jiangsu Province Applicant after: Southeast University Address before: 210096 No. four archway, 2, Jiangsu, Nanjing Applicant before: Southeast University |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |