Friction plays a critical role in dexterous robotic manipulation.However,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces.Inspired by ...Friction plays a critical role in dexterous robotic manipulation.However,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces.Inspired by the topological mechanics of knots,we construct optical fiber knot(OFN)sensors for slip detection and friction measurement.By introducing localized self-contacts along the fiber,the knot structure enables anisotropic responses to normal and frictional forces.By employing OFNs and a change point detection algorithm,we demonstrate adaptive robotic grasping of slipping cups.We further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five OFNs.Such a tactile finger allows a robotic hand to manipulate human tools dexterously.This work could provide a straightforward and cost-effective strategy for promoting adaptive grasping,dexterous manipulation,and human-robot interaction with tactile sensing.展开更多
针对现有人机交互系统中的力觉交互沉浸感不足的问题,提出了一种基于分布式系统的动态碰撞检测与虚拟力觉交互的控制策略。力觉交互系统采用分布式设计,主要包括:人机交互接口管理、空间位形解算和运动控制与碰撞检测等单元设计。在交...针对现有人机交互系统中的力觉交互沉浸感不足的问题,提出了一种基于分布式系统的动态碰撞检测与虚拟力觉交互的控制策略。力觉交互系统采用分布式设计,主要包括:人机交互接口管理、空间位形解算和运动控制与碰撞检测等单元设计。在交互过程中,采用分层方式处理碰撞效果。根据模型所处虚拟空间的相对几何位置与碰撞后的运动状态构建虚拟力觉,并由交互管理单元映射至实体交互设备,实现操作者的力觉感知与交互。采用PHANTOM omni力反馈设备与Visual Studio 2010构建了动态碰撞检测的仿真实验系统,并进行了虚拟力觉交互实验。实验结果表明:操作者通过力反馈设备能够实现力觉感知与交互,有效解决了交互过程中的力觉效果不足的问题。展开更多
基金grateful for financial supports from National Natural Science Foundation of China(61975173)China Postdoctoral Science Foundation(2022M722907,2022M722909)+2 种基金Zhejiang Provincial Natural Science Foundation of China(LQ23F010015)Key Research and Development Project of Zhejiang Province(2021C05003)Major Scientific Research Project of Zhejiang Lab(2019MC0AD01).
文摘Friction plays a critical role in dexterous robotic manipulation.However,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces.Inspired by the topological mechanics of knots,we construct optical fiber knot(OFN)sensors for slip detection and friction measurement.By introducing localized self-contacts along the fiber,the knot structure enables anisotropic responses to normal and frictional forces.By employing OFNs and a change point detection algorithm,we demonstrate adaptive robotic grasping of slipping cups.We further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five OFNs.Such a tactile finger allows a robotic hand to manipulate human tools dexterously.This work could provide a straightforward and cost-effective strategy for promoting adaptive grasping,dexterous manipulation,and human-robot interaction with tactile sensing.
文摘针对现有人机交互系统中的力觉交互沉浸感不足的问题,提出了一种基于分布式系统的动态碰撞检测与虚拟力觉交互的控制策略。力觉交互系统采用分布式设计,主要包括:人机交互接口管理、空间位形解算和运动控制与碰撞检测等单元设计。在交互过程中,采用分层方式处理碰撞效果。根据模型所处虚拟空间的相对几何位置与碰撞后的运动状态构建虚拟力觉,并由交互管理单元映射至实体交互设备,实现操作者的力觉感知与交互。采用PHANTOM omni力反馈设备与Visual Studio 2010构建了动态碰撞检测的仿真实验系统,并进行了虚拟力觉交互实验。实验结果表明:操作者通过力反馈设备能够实现力觉感知与交互,有效解决了交互过程中的力觉效果不足的问题。
