Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely based on a simple binary sense of touch (contact or no contact). Similarly, when interacting with robots to perform complex tasks, such as surgery, richer force information that includes both magnitude and contact location is important for task performance. To address these challenges, we present the design and fabrication of WiForce which is a 'wireless' sensor, sentient to contact force magnitude and location. WiForce achieves this by transducing force magnitude and location, to phase changes of an incident RF signal of a backscattering tag. The phase changes are thus modulated into the backscattered RF signal, which enables measurement of force magnitude and contact location by inferring the phases of the reflected RF signal. WiForce's sensor is designed to support wide-band frequencies all the way up to 3 GHz. We evaluate the force sensing wirelessly in different environments, including through phantom tissue, and achieve force accuracy of 0.3 N and contact location accuracy of 0.6 mm.
翻译：人类与我们周围的物理世界互动是一种自然的接触力量。 然而,我们与数字世界的互动大多基于简单的二进制触觉( 接触或不接触 ) 。 同样, 当与机器人互动以完成复杂的任务时, 比如手术, 包括规模和接触地点在内的更丰富的力信息对于任务性能都很重要。 为了应对这些挑战, 我们展示了WiForce的设计和制造, 它是一个“ 无线”传感器, 具有接触力的感应器, 具有感应力大小和位置的感应力。 我们通过感应力强度和位置, 以逐步改变一个反射标记的事故RF信号。 因此, 阶段变化被调节为反射RF信号的反射度和接触位置, 从而能够通过推断反射RF信号的阶段来测量力强度和接触位置。 WiForce的传感器旨在支持宽频频频率直至3 GHz。 我们评估在不同环境中无线感应的力量, 包括通过幻影组织, 并实现0.3 N 和接触位置精确度 0.6 mm 。
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