Affiliation:
1. Key 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
2. State Key Laboratory of Radio Frequency Heterogeneous Integration School of Physics and Optoelectronic Engineering Shenzhen University Shenzhen 518060 P. R. China
3. Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518129 P. R. China
4. School of Science and Engineering The Chinese University of Hong Kong Shenzhen Shenzhen 518172 P. R. China
Abstract
AbstractThe perception of object's deformability in unstructured interactions relies on both kinesthetic and cutaneous cues to adapt the uncertainties of an object. However, the existing tactile sensors cannot provide adequate cutaneous cues to self‐adaptively estimate the material softness, especially in non‐standard contact scenarios where the interacting object deviates from the assumption of an elastic half‐infinite body. This paper proposes an innovative design of a tactile sensor that integrates the capabilities of two slow‐adapting mechanoreceptors within a soft medium, allowing self‐decoupled sensing of local pressure and strain at specific locations within the contact interface. By leveraging these localized cutaneous cues, the sensor can accurately and self‐adaptively measure the material softness of an object, accommodating variations in thicknesses and applied forces. Furthermore, when combined with a kinesthetic cue from the robot, the sensor can enhance tactile expression by the synergy of two relevant deformation attributes, including material softness and compliance. It is demonstrated that the biomimetic fusion of tactile information can fully comprehend the deformability of an object, hence facilitating robotic decision‐making and dexterous manipulation.
Funder
National Natural Science Foundation of China
Subject
Mechanical Engineering,Mechanics of Materials,General Materials Science
Cited by
2 articles.
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