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Self-Adaptive Perception of Object's Deformability with Multiple Deformation Attributes Utilizing Biomimetic
Waner Lin1, Ziya Wang2,3, Yingtian Xu4
1Key Laboratory for Thin Film and Microfabrication of Ministry of Education, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, P. R. China.
Advanced Materials (Deerfield Beach, Fla.)
|September 19, 2023
Summary
This study introduces a novel tactile sensor for robots to better perceive object softness and compliance. This biomimetic sensor enhances robotic manipulation by integrating kinesthetic and cutaneous cues for accurate deformation estimation.
Area of Science:
- Robotics
- Biomimetics
- Materials Science
Background:
- Accurate perception of object deformability is crucial for robotic interaction.
- Existing tactile sensors struggle with self-adaptive estimation of material softness, especially in complex scenarios.
Purpose of the Study:
- To propose an innovative tactile sensor design for self-adaptive estimation of material softness and compliance.
- To enhance robotic tactile expression through the fusion of kinesthetic and cutaneous cues.
Main Methods:
- Integration of two slow-adapting mechanoreceptors within a soft medium for decoupled pressure and strain sensing.
- Leveraging localized cutaneous cues for self-adaptive measurement of material properties.
- Synergistic combination with kinesthetic cues for comprehensive deformation attribute sensing.
Main Results:
- The proposed tactile sensor accurately measures material softness, adapting to variations in object thickness and applied forces.
- Demonstrated self-decoupled sensing of local pressure and strain within the contact interface.
- Enhanced tactile expression by combining material softness and compliance information.
Conclusions:
- Biomimetic fusion of tactile information enables a comprehensive understanding of object deformability.
- The developed sensor facilitates improved robotic decision-making and dexterous manipulation in unstructured environments.
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