新型五指仿人型机器人灵巧手触觉传感器设计及其静态标定

摘要

This paper presents the design of a novel miniature tactile sensor for HIT/DLR II five - fingered dexterous robot hand and explains its operating principle. The sensor is based on a pie-zoresistive mechanism with a highly integrated and miniaturized design. The elastic architecture of the proposed sensor is also described. Multiple electrodes are mounted on the sensor surface, using rows - column scanning for the data acquisition. The static calibration experiment results indicate satisfactory correlation between the measured characteristic and the model' s calculation has been achieved within the measured range.%介绍一种应用于HIT/DLR 11五指仿人型机器人灵巧手的新型触觉传感器,并对该传感器的工作原理进行阐述.该触觉传感器基于压阻原理,具有高度集成和微型化的特点.该传感器采用了柔性结构设计,表面嵌入多个电极,传感器数据通过电极列阵进行扫描采集.最后,进行了传感器的静态标定实验,验证了传感器性能.