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三明治Miura-Ori启用了大面积,超级分辨率触摸皮肤,用于人机交互
Qian Xu1, Zhiwei Yang2, Zhengjun Wang1
1Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Kowloon, Hong Kong SAR, 999077, China.
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|March 19, 2025
概括
一个新的三明治Miura-ori (SMo) 触摸皮肤为正常和剪切力提供超分辨率传感. 这种具有成本效益的技术可以为大面积应用提供准确的触摸定位和力估计.
科学领域:
- 材料科学 材料科学 材料科学
- 机器人技术 机器人技术 机器人技术
- 电子 电子 电子 电子 电子 电子 电子
背景情况:
- 灵活的触觉传感器对于人机交互至关重要.
- 使用低成本和最小的传感单元进行大面积传感是一个重大挑战.
- 现有的传感器阵列由于复杂的布线而增加了复杂性和成本.
研究的目的:
- 为了提出一个三明治Miura-ori (SMo) 支持的超分辨率触摸皮肤.
- 开发一个理论模型,考虑可适应触觉皮肤设计的制造变化.
- 为了证明大面积触摸感应的成本效益高的解决方案.
主要方法:
- 制作一个三明治Miura-ori结构用于触觉感知.
- 开发一个包含制造过程影响的理论模型.
- 机器学习的应用用于触摸本地化和力估计.
- 设计和制造的曲线SMo皮肤使用嵌算法.
主要成果:
- 精确的触摸输入定位,平均误差为1.89毫米.
- 精确的外力估计,平均误差为8%.
- 在机器人手臂上成功展示了曲的SMo皮肤,用于运动控制.
结论:
- 拟议的SMo触摸皮肤为超分辨率传感提供了一种简单且具有成本效益的方法.
- 这项技术为未来的大面积触觉传感器系统提供了可行的解决方案.
- 开发的理论模型提高了触摸皮肤的适应性,使其适用于各种应用.
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