An Optoelectronic Artificial Skin for Contact Force Vector Estimation

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• 作者：Alberto Cavallo^* ; ^{alberto.cavallo@unina2.i" class="auth_mail" title="E-mail the corresponding author} ; Andrea Cirillo^* ; ^{andrea.cirillo@unina2.i" class="auth_mail" title="E-mail the corresponding author} ; Pasquale Cirillo^* ; ^{pasquale.cirillo@unina2.i" class="auth_mail" title="E-mail the corresponding author} ; Giuseppe De Maria^* ; ^{giuseppe.demaria@unina2.i" class="auth_mail" title="E-mail the corresponding author} ; Ciro Natale^* ; ^{ciro.natale@unina2.i" class="auth_mail" title="E-mail the corresponding author} ; Salvatore Pirozzi^* ; ^{salvatore.pirozzi@unina2.i" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Mechanical Sensors ; Contact Forces Estimation ; Physical Human-Robot Interaction
• 刊名：IFAC-PapersOnLine
• 出版年：2014
• 出版时间：2014
• 年：2014
• 卷：47
• 期：3
• 页码：7592-7597
• 全文大小：1585 K

文摘

This work proposes a novel artificial skin, developed by using the optoelectronic technology, able to estimate both normal and shear contact force components. Each sensing module is obtained with four taxels, each one constituted by an infrared Light Emitting Diode and a Photo-Detector, covered by a silicone layer that transduces the external force in a mechanical deformation, measured by the four receivers. The applied force is estimated as a suitable combination of the four voltage signals. The distributed sensor is realized by interconnecting several sensing modules with a suitably designed scanning strategy. A complete prototype, with a 6 × 6 matrix of sensing modules has been realized, calibrated and tested.