Design of the portable tactile sensor for texture recognition

被引：0

作者：

Zhang J. ^{[1
]}

Xiong P. ^{[2
,3
]}

Wei Q. ^{[1
]}

Liu G. ^{[2
]}

Liu J. ^{[2
]}

机构：

[1] School of Information Engineering, Nanchang University, Nanchang

[2] School of Advanced Manufacturing, Nanchang University, Nanchang

[3] Department of Automation, University of Science and Technology of China, Hefei

来源：

Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | 2022年 / 43卷 / 10期

关键词：

Fiber Bragg grating; Prosthetic hand; Tactile sensor; Texture recognition;

D O I：

10.19650/j.cnki.cjsi.J2210058

中图分类号：

学科分类号：

摘要：

In this article, a portable tactile sensor for texture recognition is designed. The sensor uses fiber Bragg grating (FBG) to recognize and detect different textures and sliding contact speed, which is convenient for robot system integration. Meanwhile, it has low requirement on hardware and software configuration, which is less affected by the environment. Based on the three-dimensional modeling, the sensor structure is statically analyzed and optimized to improve the sensitivity of FBG to force sensing information. A special experimental platform is designed and established to carry out static calibration experiments and complex multi-texture surface detection experiments on the sensor. Through time-frequency analysis of experimental data, it shows that the sensor can recognize different sliding contact speed and different texture. Among the sensors, FBG3 has the highest sensitivity, with an average sensitivity of about 51.1 pm/N and a linearity of 0.998 under loading. When it is unloaded, the average sensitivity is about 50.8 pm/N, and the linearity is 0.998. The repeatability error and hysteresis error of FBG2 are the largest, which are 2.35% and 2.23%, respectively. © 2022, Science Press. All right reserved.

引用

页码：66 / 73

页数：7

共 17 条

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