一种新型可连续追踪多点三维力触觉轨迹的柔性触觉传感器研究

项目名称： 一种新型可连续追踪多点三维力触觉轨迹的柔性触觉传感器研究

项目编号： No.61473272

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 双丰

作者单位： 中国科学院合肥物质科学研究院

项目金额： 83万元

中文摘要： 触觉是人类和机器人获取环境和对象信息的一种仅次于视觉的重要知觉形式。本项目以自主研发的第一代柔性触觉传感器为基础，研究新一代可连续追踪多点三维力触觉轨迹的柔性触觉传感器。主要研究内容包括：（1）用柔性导电橡胶为敏感材料制作具有弹性立体支架结构的微小型传感单元，通过优化立体支架三维力检测结构，构建含有多个敏感单元的触觉传感器阵列；（2）建立多点动态三维力作用下力与形变以及测量电阻间的数学模型，研究三维力加载点在不同区域间滑动时描述模型的转换规律，以及模型简化与降维的原理；（3）发展时间内嵌同伦等触觉传感器高效解耦算法，研究通过选择合适的跟踪算子，自动调节跟踪步长和降低中间步跟踪精度等方法提高同伦算法的效率和鲁棒性，实现多点三维接触力轨迹实时准确地检测。本项目旨在传感器结构设计与高维信息解耦方法上取得原创性突破，研究成果将对触觉传感器和机器人皮肤传感器的开发有重要的科学意义和应用前景。

中文关键词： 三维力触觉传感器；机器人皮肤传感器；连续追踪触觉轨迹；高维解耦算法；同伦算法

英文摘要： Tactile sense is second only to vision sense for human and robots to acquire information of environment and objects. This project will develop a new tactile sensor which could continuously track multi-path 3D touch force based on the first generation of the tactile sensor we have developed independently. The main contents are list as follows: (1) make micro support structure of sensitive units using flexible conductor rubber, optimize the stereo structure of measurement, build the flexible tactile sensor array which has multi sensitive units; (2) construct the mathematical model to describe connection between dynamic multi 3d touch force and resistance of sensitive units, study the transformation of the model when the 3d force move from one region to another region of the sensor, and how to simplify the model and reduce its dimension; (3) develop the time-embedded homotopy algorithm for decoupling the tactile sensor to obtain the multi-path 3d touch force in real time, increase the efficiency and robustness of the homotopy algorithm by selecting proper tracking operator, automatically adjusting tracking stepsize and reduce tracking accurate of intermediate steps. This project aims to make original breakthrough on structure design of sensors and high-dimensional information decoupling algorithms. The research would have an academic value and a great potential for development of tactile sensors and robot skin sensors.

英文关键词： 3d tactile sensors;robot sensors;continuous path tracing of touch force;multi-dimensional decoupling algorithms;homotopy algorithms