腱駆動ソフトロボット指による触覚センシング
Tactile Sensing with a Tendon-Driven Soft Robotic Finger
哺乳類の固有受容覚に着想を得て、指の腱に取り付けたひずみセンサーから触覚情報を推定する新手法を提案し、テクスチャと硬さの識別で高精度を達成した。
著者: Chang Cheng, Yadong Yan, Mingjun Guan, Jianan Zhang, Yu Wang
分類: cs.RO, stat.AP
原文アブストラクト
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's tendon. We perform experiments to test the tactile sensing capabilities of the proposed structures, and our results indicate this method is capable of palpating texture and stiffness in both abduction and flexion contact. Under systematic cross validation, the proposed system achieved 100% and 99.7% accuracy in texture and stiffness discrimination respectively, which validate the viability of this approach. Furthermore, we use statistics tools to determine the significance of various features extracted for classification.
