TAILIEUCHUNG - Rapid Learning in Robotics - Jorg Walter Part 3

Tham khảo tài liệu 'rapid learning in robotics - jorg walter part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Sensing Tactile Perception 19 Sensing Tactile Perception Despite the explained importance of good sensory feedback sub-systems no suitable tactile sensors are commercially available. Therefore we focused on the design construction and making of our own multi-purpose compound sensor Jockusch 1996 . Fig. illustrates the concept achieved with two planar film sensor materials i a slow piezo-resistive FSR material for detection of the contact force and position and ii a fast piezoelectric PVDF foil for incipient slip detection. A specific consideration was the affordable price and the ability to shape the sensors in the particular desired forms. This enables to seek high spatial coverage important for fast and spatially resolved contact state perception. a Contact Sensor Force and Center b Figure The sandwich structure of the multi-layer tactile sensor. The FSR sensor measures normal force and contact center location. The PVDF film sensor is covered by a thin rubber with a knob structure. The two sensitive layers are separated by a soft foam layer transforming knob deflection into local stretching of the PVDF film. By suitable signal conditioning slippage induced oscillations can be detected by characteristic spike trains. c-d Intermediate steps in making the compound sensor. Dynamic Slip Sensor Polymer layers - deflectable knobs - PVDF - soft layer - FSR semiconductor - PCB Fig. shows the prototype. Since the kinematics of the finger involves a moving contact spot during object manipulation an important requirement is the continuous force sensitivity during the rolling motion 20 The Robotics Laboratory on an object surface see Jockusch Walter and Ritter 1996 . Efficient system integration is provided by a dedicated 64 channel signal pre-conditioning and collecting micro-computer based device called MASS Multi channel Analog Signal Sampler for details see Jockusch 1996 . MASS transmits the configurable set of sensor signals via a highspeed link to

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