國立虎尾科技大學 |

Soft Tactile Sensor Embedded Artificial Skin.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Soft Tactile Sensor Embedded Artificial Skin./
作者:	Yin, Jianzhu.
面頁冊數:	1 online resource (106 pages)
附註:	Source: Dissertation Abstracts International, Volume: 79-02(E), Section: B.
Contained By:	Dissertation Abstracts International79-02B(E).
標題:	Mechanical engineering. -
電子資源:	click for full text (PQDT)
ISBN:	9780355356007

Soft Tactile Sensor Embedded Artificial Skin.
Yin, Jianzhu.

Soft Tactile Sensor Embedded Artificial Skin. - 1 online resource (106 pages)

Source: Dissertation Abstracts International, Volume: 79-02(E), Section: B.

Thesis (Ph.D.)

Includes bibliographical references

When making contact with objects, we perceive them as warm or cold, rough or smooth, and hard or soft using multiple mechanoreceptors. Current robots and prosthesis lack the perception of touch that is vital for in-hand manipulation and finger-object interaction, thus struggling on certain tasks such as slip prevention, grip control, and texture/stiffness recognition. Tactile feedback on robot manipulators and prosthetic hands are important advancement because it enables manipulation in unstructured surroundings, reveals surface/volumetric properties of objects and improves robotic/prosthetic autonomy. Sensor skin can provide rich, real-time tactile information to aid manipulation and can conformally wrap around a variety of existing fingertips. Numerous soft tactile sensors have been developed using liquid metal (eutectic Gallium Indium, or eGaIn) and flexible elastomer. These sensor skins are inferior to human tactile sensing performance in terms of sensitivity, spatial and/or temporal resolution. Current approaches to measure shear force suffer from poor resolution and ambiguity. A highly sensitive sensor skin that accurately resolves contact force in three-dimension and senses vibration is needed for artificial manipulator to better interact with the environment and external objects.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780355356007Subjects--Topical Terms:

557493
Mechanical engineering.
Index Terms--Genre/Form:

554714
Electronic books.

Soft Tactile Sensor Embedded Artificial Skin.
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245 1 0 $a Soft Tactile Sensor Embedded Artificial Skin.
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300 $a 1 online resource (106 pages)
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500 $a Source: Dissertation Abstracts International, Volume: 79-02(E), Section: B.
500 $a Adviser: Jonathan D. Posner.
502 $a Thesis (Ph.D.) $c University of Washington $d 2017.
504 $a Includes bibliographical references
520 $a When making contact with objects, we perceive them as warm or cold, rough or smooth, and hard or soft using multiple mechanoreceptors. Current robots and prosthesis lack the perception of touch that is vital for in-hand manipulation and finger-object interaction, thus struggling on certain tasks such as slip prevention, grip control, and texture/stiffness recognition. Tactile feedback on robot manipulators and prosthetic hands are important advancement because it enables manipulation in unstructured surroundings, reveals surface/volumetric properties of objects and improves robotic/prosthetic autonomy. Sensor skin can provide rich, real-time tactile information to aid manipulation and can conformally wrap around a variety of existing fingertips. Numerous soft tactile sensors have been developed using liquid metal (eutectic Gallium Indium, or eGaIn) and flexible elastomer. These sensor skins are inferior to human tactile sensing performance in terms of sensitivity, spatial and/or temporal resolution. Current approaches to measure shear force suffer from poor resolution and ambiguity. A highly sensitive sensor skin that accurately resolves contact force in three-dimension and senses vibration is needed for artificial manipulator to better interact with the environment and external objects.
520 $a This dissertation describes the design and development of a soft tactile sensing skin that is conformable to existing robotic manipulators and provides dynamic tactile sensing of normal and shear force as well as vibration. A bioinspired shear force sensor is developed by measuring the asymmetric strain pattern of sensor skin when shear force is applied. However normal force would induce symmetric strain pattern, analytically proving that the sensor response is independent of normal force. A 2D solid mechanics steady finite element analysis is developed to evaluate the sensor performance and determine geometric parameters of the artificial skin and strain sensor that provide adequate sensitivity over the light touch shear force range. Static characterization experiments are conducted to produce the linear calibration between sensor response and shear force. This relation is matches analytical estimations as well as simulation predictions. The artificial sensor skin is further examined dynamically in stepwise unloading, slip and controlled vibration tests. We show that the sensor has potential of detecting insipient slip and can resolve vibrations equivalent, or better, than humans. The sensor resolves a variety of tactile events during pick and place, drop or handoff tasks on a robotic manipulator.
520 $a The shear tactile sensor skin is extended to two-dimensions and integrated with a normal force sensor. The resistive normal force sensor is based on deformation of liquid metal filled spiral shaped microfluidic channel with respect to normal force. The normal force sensors exhibit sensitivity of 18 %/N and better-than-human performance to measure vibration. It is shown that the integrated sensor skin encodes spatially dispersed normal force and lumped shear force in two directions, although there are design and optimization challenges to match the sensitivity to one-dimension shear sensing skin.
520 $a This research has resulted in the development of a flexible normal and shear sensing skin that is also capable of sensing vibration. The sensing skin can be applied to robotic manipulators or prosthetic hands to improve manipulation performance, prevent slip, gather surface/volumetric object properties for autonomous robot or smarter and more user-friendly prosthesis.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Mechanical engineering. $3 557493
650 4 $a Robotics. $3 561941
650 4 $a Engineering. $3 561152
655 7 $a Electronic books. $2 local $3 554714
690 $a 0548
690 $a 0771
690 $a 0537
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a University of Washington. $b Mechanical Engineering. $3 1148544
773 0 $t Dissertation Abstracts International $g 79-02B(E).
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10621460 $z click for full text (PQDT)