CN107830875A - The robot bionic antenna touch sensor and detection method of a kind of controlled shape - Google Patents
The robot bionic antenna touch sensor and detection method of a kind of controlled shape Download PDFInfo
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- CN107830875A CN107830875A CN201710826471.1A CN201710826471A CN107830875A CN 107830875 A CN107830875 A CN 107830875A CN 201710826471 A CN201710826471 A CN 201710826471A CN 107830875 A CN107830875 A CN 107830875A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
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Abstract
The present invention relates to the robot bionic antenna touch sensor and detection method of a kind of controlled shape, sensor includes piezoelectric patches, substrate, marmem, probe, marmem is divided into two parts, two parts are connected on piezoelectric patches and substrate, and other end connection probe forms cantilever beam structure；The present invention also provides the detecting system formed using the sensor and method for sensing, this method first carries out parameter identification using the sensor as a motor coupled system, obtain the anti-relation between measurand mechanical impedance of sensor resistance, in conjunction with the voltage and current on piezoelectric patches, obtain power caused by sensor and the frequency spectrum of motion, finally give the sensing equation expression formula for perceiving measurand mechanical features and tactile data, marmem is driven to control the shape of sensor antenna by electric signal, it is narrow so as to adapt it to, particular surroundings (such as blood vessel such as pipeline of bending, enteron aisle, conveyance conduit, be vented heat emission hole etc.) and task constraint.
Description
Technical field
The present invention relates to a kind of touch sensor, more particularly to a kind of controlled shape perceived for robot environment
Antenna touch sensor.
Background technology
Robot is by sensor senses ambient condition information, to carry out task in circumstances not known.Robot at present
Vision sensor is relied primarily on to carry out the perception of environment, but visually-perceptible is easily by factors such as illumination, haze, dust, blind areas
Interference, cause its reliability decrease or even not being applicable in specific occasion.And some animals such as mouse, sea dog etc. in nature
But environment and prey information can be perceived in the adverse circumstances such as cave, muddy water by beard, so as in the feelings independent of vision
Carry out the tasks such as mobile, hunting under condition.Inspired by this, bionical Whisker Sensor starts to be developed and turns into current robot sense
Know a new study hotspot of technology.As patent CN101718535B has invented one kind based on laser to perceive robot and barrier
Hinder the Whisker Sensor of thing angle.Patent CN105841856A has invented a kind of three-dimensional based on cross spring beam and strain gauge
Power displacement and three-dimensional force Whisker Sensor.Patent CN106802131A has invented a kind of Whisker Sensor based on FBG optical fiber and surveyed
Away from system.
But existing antenna touch sensor is typically based on the antenna of passive type, its shape once it is determined that can not just change,
Open environment is only applicable to, and constrained environment can not be adapted to by changing shape, such as slender pipeline is narrow, the ring of bending
Border.In addition, although position and the contact force of existing Whisker Sensor energy perceptive object, can not also provide the firm of subject surface
The mechanical features information such as degree, quality, damping.The missing of these information carries out the task bands such as Object identifying, operation for robot
Difficulty is carried out.Finally, existing Whisker Sensor realizes that position and contact force perceive using the structure of complexity, and this also further leads
Cause its cost height, be difficult to the problems such as miniaturization.
The content of the invention
For drawbacks described above, the invention discloses the robot bionic antenna touch sensor of controlled shape and detection side
Method, marmem is driven to control the shape of sensor antenna by electric signal, so as to adapt it to the pipe of narrow bending
The constraint of the particular surroundings such as road (such as blood vessel, enteron aisle, conveyance conduit, exhaust heat emission hole) and task.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of robot bionic antenna touch sensor of controlled shape, the sensor include piezoelectric patches, substrate, shape
Memorial alloy and probe, the piezoelectric patches and substrate fit into an entirety, and the marmem is divided into two parts, and two
An entirety is connected as by insulator between part；Two parts marmem is connected to piezoelectric patches and substrate
On, form cantilever beam structure；The other end connection probe of the marmem；The piezoelectric patches is with piezo-electric effect
Material is made；The substrate is made up of metal material.
Temperature sensor is installed on the marmem.
A kind of robot bionic antenna touch sensor of controlled shape, the sensor include piezoelectric patches, substrate, shape
Memorial alloy and probe, the piezoelectric patches and substrate fit into an entirety, and it is firm to be pasted with one on the marmem
Degree is connected as an entirety between two parts higher than the metal of the marmem by insulator；The shape memory closes
Gold and metal are connected on piezoelectric patches and substrate, form cantilever beam structure；The other end connection of the marmem
Probe.A kind of robot bionic antenna touch sensor detection method of controlled shape, power-on and power-off of the methods described in piezoelectric patches
It is extremely upper to apply voltage EP, loop is formed with piezoelectric patches, produces electric current IP；The both ends of a part of marmem are applied wherein
Making alive, loop is formed with the described partial shape memory alloy antenna, and produce electric current, deform upon the sensor.
A kind of robot bionic antenna touch sensor detecting system of controlled shape, the detecting system include control with
Signal processing module, signal occur to examine with acquisition module, power amplifier module, robot bionic antenna touch sensor, electric current
Survey module and voltage detection module；
Wherein, the control is sequentially connected signal generation and acquisition module, power amplifier module with signal processing module, will
Voltage signal is sent on the robot bionic antenna touch sensor；
The current detection module and voltage detection module collection robot bionic antenna touch sensor on electric current,
Voltage signal, occur to be sent to control and signal processing module with acquisition module by signal.
Voltage E on the voltage detection module measurement sensor piezoelectric patchesP, that it is decayed, filtered, is biased is pre-
Signal generation and acquisition module are sent into after processing.
Electric current I on the measurement sensor piezoelectric patches of current detection module 11P, it is amplified, filtered, is biased
Signal generation and acquisition module are sent into after pretreatment.
The control and the electrical impedance Z of piezoelectric patches on the bionical antenna touch sensor of signal processing module calculating robote,
And electrical impedance is converted into the mechanical impedance Z of antenna probe contacts objectm, and contact force and contact point between probe and object
Motion；
Control occurs to need to be applied to machine with acquisition module generation with signal processing module according to mission requirements control signal
Waveform voltage signal on the bionical antenna touch sensor of device people, and voltage E is produced by power amplifier moduleP、ES1And ES2Apply
It is added to robot bionic antenna touch sensor.
A kind of robot bionic antenna touch sensor method for sensing of controlled shape, this method first touch robot bionic
Palpus touch sensor carries out parameter identification as a motor coupled system, obtains sensor resistance and resists and measurand machinery resistance
Relation between anti-, in conjunction with the voltage on piezoelectric patches and the electric current passed through, obtain power caused by sensor and the frequency of motion
Spectrum, finally give the sensing equation expression formula for perceiving measurand mechanical features and tactile data.
First, list the table being located at relation between voltage is applied on piezoelectric patches of the sensor centrostigma masterpiece use
Frequency domain is converted into from time domain up to formula, and by it, obtains the dynamical equation of the expression formula；
Pass through F ' (ω)=- F (ω) and represent power caused by sensor, its direction is with acting on the power phase on sensor
Instead；The sensor mechanism impedance Zm=F ' (ω)/V (ω) and the anti-Z of sensor resistancee=E (ω)/I (ω) relation：
Wherein, I (ω) is current signal frequency spectrum, and V (ω) is rate signal frequency spectrum, and E (ω) is voltage signal frequency spectrum；α、β、
γ is the parameter of description resistance resistance and mechanical resistance mathematical relationship, is obtained by inverse Fourier transform；
Final (9) formula, (12) formula of combining is according to sensor voltage EP, electric current IPAnd electrical impedance ZeTo obtain antenna end
The mechanical impedance Z of contact force F ' (ω), motion V and contact object at probem。
The present invention compared with prior art, has following technique effect using above technical scheme：
The technical solution adopted in the present invention is：Two panels marmem is bonded together shape by way of insulation
Cheng Yigen antennas, electric current is produced inside it by applying controllable voltage to marmem antenna, so that it generates heat
Produce controllable deforming.In addition, interacted by applying voltage generation vibrational excitation to piezoelectric patches with contact object, and to its electricity
Pressure, electric current and electrical impedance carry out real-time synchronization measurement, are contacted using the electromechanical Coupling Model of sensor to calculate antenna end
The machinery such as the motion of the mechanical impedance and contact force, contact point of object, quality, damping and the rigidity of onestep extraction object of going forward side by side
Feature.
Compared with prior art, the present invention is realized to touching by introducing the intellectual materials such as marmem, piezoelectric patches
The active control of palpiform shape, and the Intelligent Measurement of the mechanical features to antenna end institute contact object.Its beneficial effect brought
Fruit includes：Antenna shape can active control to adapt to the special constrained environment such as narrow, crooked pipeline；By the way that one piece of piezoelectric patches is same
When the structure of sensor had not only been simplified as driver element but also as sensing unit, reduce cost, be easy to minimize；Without
Contact point installing force, displacement transducer, antenna end is obtained come non-intrusion type by the detection of piezoelectric patches voltage, electric current and electrical impedance
The information such as the mechanical impedance of end in contact object, contact force, contact point motion.
Brief description of the drawings
Fig. 1 is the structural representation of antenna touch sensor；
Fig. 2 is sensor electrically and mechanically configuration diagram；
Fig. 3 is that sensor controlled-deformation enters curved narrow pipeline progress tactile detection schematic diagram；
Fig. 4 is electrical system module diagram；
Fig. 5 is that Whisker Sensor probe end applies mechanical load schematic diagram；
Fig. 6 is the electrical impedance curve of sensor when applying unloaded and known load；
Fig. 7 is α, β, γ that identification obtains curve；
Fig. 8 is the electrical impedance curve that sensor to unknown " test load " detect acquisition；
Fig. 9 is the contrast of unknown " test load " the mechanical impedance measured value that sensor detects and actual value；
Figure 10 is the execution flow chart of electrical system processing routine.
Symbol description in figure：1. piezoelectric patches；2. substrate；3. Part I marmem antenna；4. Part II
Marmem antenna；5. antenna is popped one's head in；6. control and signal processing module；7. signal occurs and acquisition module；8. power
Amplification module；9. Whisker Sensor；10. voltage detection module；11. current detection module.
Embodiment
The embodiment of the present invention is further illustrated below in conjunction with the accompanying drawings.
Embodiments of the present invention are by applying voltage to the sections of shape memory alloy on antenna to control antenna
Deformation, and on piezoelectric patches apply voltage signal make its produce dither excitation, while in real time detection piezoelectric patches voltage and
Current signal, its resistance antinoise signal is calculated, and electrical impedance is converted into the mechanical impedance signal at antenna probe.When antenna is popped one's head in
When being contacted with object, detected mechanical impedance value will change, and can therefrom extract time of contact, position, connect
The information such as touch, motion, and can the further mechanical features information such as the quality of extracting object, damping and rigidity.
Fig. 1 is the sensor construction schematic diagram for representing embodiments of the present invention.The Sensor section tool of present embodiment
Have：Piezoelectric patches 1；Substrate 2；Part I marmem antenna 3；Part II marmem antenna 4；Antenna is popped one's head in
5.Wherein piezoelectric patches 1 is the material for having piezo-electric effect, such as piezoelectric ceramics, piezo-electric crystal, piezopolymer.Substrate 2 is used for
Piezoelectric patches 1 is attached, can be the materials such as metal.Marmem antenna 3 and 4 is the material with SME, such as
Nitinol etc., its shape can be changed by heating.It is bonded between marmem antenna 3 and 4 by way of insulation
Together, an antenna is formed.One end of marmem antenna 3 and 4 is fixed on piezoelectric patches 1 and substrate 2, forms cantilever
Girder construction.The other end that antenna probe 5 is connected to marmem antenna 3 and 4, is used for and object contact.
Fig. 2 is the sensor electrically and mechanically configuration diagram of embodiment of the present invention.The piezoelectric patches 1 of sensor and substrate 2
Left distal end, which is fixed, forms cantilever beam.Piezoelectric patches 1 applies voltage E up and down on two electrodesP, loop is formed with piezoelectric patches 1, and
Produce electric current IP.Apply voltage E on the left and right ends electrode of marmem antenna 3S1, formed with marmem antenna 3
Loop, and produce electric current IS1.Apply voltage E on the left and right ends electrode of marmem antenna 4S2, touched with marmem
Palpus 4 forms loops, and produces electric current IS2.Marmem antenna 3 and 4 carries out high-temperature shape-memory processing respectively, makes its note
Recall shape to bend to+Y and -Y direction respectively, deform and cancel out each other when both are bonded together to form antenna, make at antenna
In straight state (such as Fig. 1).And when wherein one of marmem antenna 3 and 4 energization, another when being not powered on, is powered
The heating of that root be deformed, antenna so as to reach the purpose of control antenna shape, enables the sensor to enter to the lateral bend
The pipeline (such as blood vessel, enteron aisle, conveyance conduit, exhaust heat emission hole) of curved narrow is detected, as shown in Figure 3.By in shape
Reload temperature sensor on shape memory alloys antenna 3 and 4, it can also realize the accurate control to antenna shape.In addition, also can be by it
In a marmem antenna change the material of the higher amorphism memory effect of rigidity into, play a part of biasing resilience,
And only carry out Deformation control with a marmem antenna.
Fig. 4 is the electrical system module diagram of embodiment of the present invention.Control will according to task with signal processing module 6
Ask control signal to occur to generate the waveform voltage signal needed to be applied on sensor with acquisition module 7, and pass through power amplification
Module 8 produces voltage EP、ES1And ES2It is applied to Whisker Sensor 9.Voltage EPFor controlling Whisker Sensor 9 to produce vibrational excitation
Interacted with contact object, ES1And ES2For controlling Whisker Sensor 9 to be deformed.The measurement sensing of voltage detection module 10
Voltage E on device piezoelectric patchesP, signal generation and collection mould are sent into after the pretreatment such as certain decay, filtering, biasing is carried out to it
Block 7.Electric current I on the measurement sensor piezoelectric patches of current detection module 11P, it is pre- that certain amplification, filtering, biasing etc. are carried out to it
Signal is sent into after processing to occur and acquisition module 7.Control occurs with acquisition module 7 to pressure with the control signal of signal processing module 6
Electric piece voltage EPWith electric current IPSignal synchronizes real-time sampling, calculates the electrical impedance Z of piezoelectric patchese, and electrical impedance is converted into touching
The mechanical impedance Z of palpus probe contacts objectm, and the contact force between probe and object and the motion of contact point.Specific conversion
Principle is：
Whisker Sensor in the present invention can be by following mechanical-electric coupling dynamical equation table as a piezoelectricity coupled system
Show：
Wherein Ms、Mp、KsAnd KpIt is architecture quality matrix, piezoelectric patches mass matrix, structural stiffness matrix and piezoelectric patches respectively
Stiffness matrix.Vectorial r (t) and f (t) are the generalized coordinates of displacement and the generalized coordinates of point external force respectively.Vectorial e (t) and q (t)
It is the generalized coordinates of voltage and the generalized coordinates of the electric charge on piezoelectricity plate electrode respectively.T is the time.CpIt is piezoelectric capacitance matrix.
Θ is mechanical-electric coupling matrix.BfAnd BqIt is torque battle array.
Consider to apply on piezoelectric patches the voltage of single value, and the situation that contact force is antenna end centrostigma power, then q
(t), e (t), f (t) and CpIt is reduced to scalar and BqAs unit matrix.The displacement components u (t) and application electric charge of centrostigma masterpiece use
The voltage E (t) at place is represented by：
Fourier transformation is carried out to equation (1) it is converted into frequency domain from time domain, obtained：
Wherein ω is frequency, and R (ω), F (ω), E (ω), Q (ω) are respectively r (t), f (t), e (t), q (t) frequency domain table
Show.The frequency domain representation U (ω) of displacement components u (t) and the frequency domain representation Q (ω) of electric charge can be obtained by formula (2) and (3)：
WhereinFor the mechanical impedance matrix of sensor.By in formula (4)
Scalar parameter is expressed as：
The dynamical equation of following matrix form can be obtained：
Additionally due toFollowing relation can be released：
B (ω)=C (ω) (7)
Electric current I (ω)=j ω Q (ω) and speed V (ω)=j ω U (ω) are substituted into formula (6) and arranged and are obtained：
F ' (ω)=- F (ω) represents power caused by sensor, its direction and the power acted on sensor in formula (8)
Conversely.Object mechanical impedance Z can be released from formula (8)m=F ' (ω)/V (ω) and the anti-Z of sensor resistancee=E (ω)/I (ω)
Relation：
Wherein：
Formula (9) shows in the case of known to α, β, γ, can pass through the electrical impedance Z of measurement sensoreTo obtain object
Mechanical impedance Zm.And this mode is non-intrusion type, it is not necessary to installing force/displacement transducer in antenna end, will not be produced
Give birth to load effect and cause error.
Due to ZmIt can be expressed as：
Wherein m, c, k are respectively quality, damping and the rigidity of object.Therefore, can be further from the sensor electricity of measurement
Impedance ZeObtain the information such as quality, damping and the rigidity of object.
Equation below can further be obtained according to formula (8-10)：
I.e. by the electric current I (ω) for measuring the voltage E (ω) on piezoelectric patches and passing through, sensing just can be obtained according to formula (12)
Device is applied to the power F ' (ω) and motion V (ω) of object frequency spectrum.Power, speed can be further obtained using inverse Fourier transform
Time-domain signal f ' (t), v (t) and u (t) with displacement：
α, β, γ required for the above method can be obtained according to formula (10) by theoretical calculation, in actual applications can be with
Obtained using the method for identification.This method needs n (n>3) test object of known mechanical impedance.Formula (9) can be further
It is derived by：
Record sensor and detect n test object ZmiElectrical impedance Z when (i=1 ..., n)ei(i=1 ..., n), form formula
(15) over-determined systems shown in：
α, β, γ least square solution can be obtained by solving.
After α, β, γ are determined, according to formula (9) and (12), it is possible to pass through the voltage (E of measurement sensorP), electric current (IP) with
And electrical impedance ZeTo obtain the mechanical impedance Z of contact force F ', motion V and contact object at the probe of antenna endm, and according to formula
(11) the mechanical features information such as quality, damping and the rigidity of object are further obtained.
Finally the validity of the above method is verified.Fig. 5 is that sensor antenna probe end application mechanical load shows
It is intended to.Table 1 is the list loaded applied in verification process, including unloaded, 6 known loads and 1 unknown test load.
Fig. 6 is the electrical impedance Z of sensor when applying unloaded and 6 known loadseCurve.Fig. 7 be using formula (15) identification obtain α,
β, γ curve.Fig. 8 to unknown " test load " detect the electrical impedance Z of acquisition using sensoreCurve.Fig. 9 is
The mechanical impedance Z being converted to using formula (9)mThe contrast of measured value and actual value.It can be found that the load machinery resistance detected
It is anti-effectively to reflect its actual value.
The sensor antenna probe end of table 1. applies loaded list
Because α, β, γ are relevant with the shape of antenna, sensor need to be demarcated using preceding under different antenna shapes,
α, β, γ value according to corresponding to antenna shape selects use calculate the mechanical impedance of object when in use.
The execution flow chart of the electrical system processing routine of the present invention is shown in Figure 10.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair
It is bright, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., it should be included in the present invention
Protection domain within.
Claims (10)
- A kind of 1. robot bionic antenna touch sensor of controlled shape, it is characterised in that the sensor include piezoelectric patches, Substrate, marmem and probe, the piezoelectric patches and substrate fit into an entirety, and the marmem is divided into Two parts, an entirety is connected as by insulator between two parts；Two parts marmem is connected to piezoelectricity On piece and substrate, cantilever beam structure is formed；The other end connection probe of the marmem；The piezoelectric patches is with pressure The material of electrical effect is made；The substrate is made up of metal material.
- A kind of 2. robot bionic antenna touch sensor of controlled shape according to claim 1, it is characterised in that Temperature sensor is installed on the marmem.
- A kind of 3. robot bionic antenna touch sensor of controlled shape, it is characterised in that the sensor include piezoelectric patches, Substrate, marmem and probe, the piezoelectric patches and substrate fit into an entirety, pasted on the marmem With metal of the rigidity higher than the marmem, an entirety is connected as by insulator between two parts；The shape Shape memory alloys and metal are connected on piezoelectric patches and substrate, form cantilever beam structure；The marmem it is another One end connection probe.
- 4. a kind of robot bionic antenna touch sensor detection method of controlled shape according to claim 1, it is special Sign is that methods described applies voltage E on the upper/lower electrode of piezoelectric patchesP, loop is formed with piezoelectric patches, produces electric current IP；At it The both ends of middle a part of marmem apply voltage, and loop is formed with the described partial shape memory alloy antenna, and Electric current is produced, deforms upon the sensor.
- A kind of 5. robot bionic antenna touch sensor detecting system of controlled shape, it is characterised in that the detecting system Occur and acquisition module, power amplifier module, robot bionic antenna tactile sensing including control and signal processing module, signal Device, current detection module and voltage detection module；Wherein, the control is sequentially connected signal generation and acquisition module, power amplifier module with signal processing module, by voltage Signal is sent on the robot bionic antenna touch sensor；The current detection module and electric current, voltage on voltage detection module collection robot bionic antenna touch sensor Signal, occur to be sent to control and signal processing module with acquisition module by signal.
- 6. a kind of robot bionic antenna touch sensor detecting system of controlled shape according to claim 5, it is special Sign is, the voltage E on the voltage detection module measurement sensor piezoelectric patchesP, that it is decayed, filtered, is biased is pre- Signal generation and acquisition module are sent into after processing.
- 7. a kind of robot bionic antenna touch sensor detecting system of controlled shape according to claim 5, it is special Sign is, the electric current I on the measurement sensor piezoelectric patches of current detection module 11P, it is amplified, filtered, is biased Signal generation and acquisition module are sent into after pretreatment.
- 8. a kind of robot bionic antenna touch sensor detecting system of controlled shape according to claim 5, it is special Sign is, the control and the electrical impedance Z of piezoelectric patches on the bionical antenna touch sensor of signal processing module calculating robote, And electrical impedance is converted into the mechanical impedance Z of antenna probe contacts objectm, and contact force and contact point between probe and object Motion；Control occurs to need to be applied to robot with acquisition module generation with signal processing module according to mission requirements control signal Waveform voltage signal on bionical antenna touch sensor, and voltage E is produced by power amplifier moduleP、ES1And ES2It is applied to Robot bionic antenna touch sensor.
- 9. the robot bionic antenna touch sensor method for sensing of a kind of controlled shape, it is characterised in that this method is first by machine The bionical antenna touch sensor of device people carries out parameter identification as motor coupled system, obtain sensor resistance it is anti-with it is tested Relation between object mechanical impedance, in conjunction with the voltage on piezoelectric patches and the electric current passed through, obtain power caused by sensor With the frequency spectrum of motion, the sensing equation expression formula for perceiving measurand mechanical features and tactile data is finally given.
- 10. a kind of robot bionic antenna touch sensor method for sensing of controlled shape according to claim 9, it is special Sign is,First, list the expression being located at relation between voltage is applied on piezoelectric patches of the sensor centrostigma masterpiece use Formula, and it is converted into frequency domain from time domain, obtain the dynamical equation of the expression formula；Pass through power caused by F ' (ω)=- F (ω) expression sensors, its direction is opposite with acting on the power on sensor；Institute State sensor mechanism impedance Zm=F ' (ω)/V (ω) and the anti-Z of sensor resistancee=E (ω)/I (ω) relation：Wherein, I (ω) is current signal frequency spectrum, and V (ω) is rate signal frequency spectrum, and E (ω) is voltage signal frequency spectrum；α, β, γ are The parameter of resistance resistance and mechanical resistance mathematical relationship is described, is obtained by inverse Fourier transform；It is final that antenna end probe is obtained according to sensor voltage EP, electric current IP and electrical impedance Ze with reference to (9) formula, (12) formula Contact force F ' (ω), the motion V at place and the mechanical impedance Zm of contact object.
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| CN111714164A (en) * | 2020-06-19 | 2020-09-29 | 上海交通大学 | Tactile sensing device for minimally invasive surgery and use method thereof |
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| CN109062051B (en) * | 2018-08-28 | 2021-07-23 | 苏州艾利特机器人有限公司 | Method for improving robot dynamics parameter identification precision |
| CN109737993A (en) * | 2019-01-08 | 2019-05-10 | 吉林师范大学 | Electronics beard formula touch sensing device based on elongation strain sensing unit and preparation method thereof |
| CN109737993B (en) * | 2019-01-08 | 2021-06-01 | 吉林师范大学 | Electronic beard type touch sensing device based on tensile strain sensitive unit and preparation method thereof |
| CN111714164A (en) * | 2020-06-19 | 2020-09-29 | 上海交通大学 | Tactile sensing device for minimally invasive surgery and use method thereof |
| CN111714164B (en) * | 2020-06-19 | 2022-03-01 | 上海交通大学 | Tactile sensing device for minimally invasive surgery and use method thereof |
| CN112763751A (en) * | 2020-12-16 | 2021-05-07 | 北京理工大学 | Shape recognition method and system based on passive whisker sensor |
| CN113567282A (en) * | 2021-06-03 | 2021-10-29 | 上海交通大学 | Object type judgment processing method and system based on shape memory alloy wire |
| CN113567282B (en) * | 2021-06-03 | 2022-06-17 | 上海交通大学 | Object type judgment processing method and system based on shape memory alloy wire |
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