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AcousTac:用于无电子软皮肤的有声共振的触觉感应

Monica S Li^1,2, Hannah S Stuart¹

¹Department of Mechanical Engineering, University of California Berkeley, Berkeley, California, USA.

|August 2, 2024

概括

AcousTac是一款新型声学触觉传感器,可以在柔软的机器人皮肤上无需电子设备来感知力. 这项技术使用声音频率的变化来检测外部负载,为机器人获得触觉提供了一种新的方式.

科学领域:

机器人技术机器人技术机器人技术
感官系统感官系统
声学声学在声学方面

背景情况:

声音是一种丰富的信息介质,但声学技术在机器人触觉感应方面未得到充分利用.
现有的声学触觉方法往往缺乏直接的力测量,或需要在接触点附近集成的电子设备.

研究的目的:

为了介绍AcousTac,一个无电子,强度敏感的软机器人皮肤的声学触觉传感器.
开发一种能够通过声音频率变化测量外部负载的系统,而不需要现场电子设备.

主要方法:

AcousTac使用符合标准的盖和塑料管作为共振室,发出气动驱动的声音.
盖子上的外部负荷会改变声音频率,这些频率由机外麦克风测量.
修改,比如添加一个远距离的孔或质量盖的特点是为了实现单调和非歇斯底里力读数.

主要成果:

在盖子修改后,AcousTac显示单调和非歇斯底里力读数.
单个传感器元素 (taxel) 可以针对特定的力和频率范围进行调整,并在数组中同时感知.
该系统在一个4轴阵列和一个3轴强制抓手上成功地进行了演示.

结论:

AcousTac提供了一个简单的,可实施的解决方案,用于软机器人表面的力感应,特别是集成电子不适合的地方.
这种声学触觉传感器为机器人提供触觉,增强与环境的安全互动.

关键词:

声学共振是一种声学共振.没有电子设备的自由.强力传感传感器是什么?气动气动机的使用方法触觉性皮肤是一种触觉性皮肤.

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