Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this uniq...Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this unique capability in robots remains a significant challenge.Here,we present a new form of ultralight multifunctional tactile nano-layered carbon aerogel sensor that provides pressure,temperature,material recognition and 3D location capabilities,which is combined with multimodal supervised learning algorithms for object recognition.The sensor exhibits human-like pressure(0.04–100 kPa)and temperature(21.5–66.2℃)detection,millisecond response times(11 ms),a pressure sensitivity of 92.22 kPa^(−1)and triboelectric durability of over 6000 cycles.The devised algorithm has universality and can accommodate a range of application scenarios.The tactile system can identify common foods in a kitchen scene with 94.63%accuracy and explore the topographic and geomorphic features of a Mars scene with 100%accuracy.This sensing approach empowers robots with versatile tactile perception to advance future society toward heightened sensing,recognition and intelligence.展开更多
Flexible strain sensors play an important role in electronic skins,wearable medical devices,and advanced robots.Herein,a highly sensitive and fast response optical strain sensor with two evanescently coupled optical m...Flexible strain sensors play an important role in electronic skins,wearable medical devices,and advanced robots.Herein,a highly sensitive and fast response optical strain sensor with two evanescently coupled optical micro/nanofibers(MNFs)embedded in a polydimethylsiloxane(PDMS)film is proposed.The strain sensor exhibits a gauge factor as high as 64.5 for strain≤0.5%and a strain resolution of 0.0012%which corresponds to elongation of 120 nm on a 1 cm long device.As a proof-of-concept,highly sensitive fingertip pulse measurement is realized.The properties of fast temporal frequency response up to 30 kHz and a pressure sensitivity of 102 kPa^(−1) enable the sensor for sound detection.Such versatile sensor could be of great use in physiological signal monitoring,voice recognition and micro-displacement detection.展开更多
In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ana...In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is analyzed.After that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the prototype.This work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.展开更多
Wearable human-machine interface(HMI)is an advanced technology that has a wide range of applications from robotics to augmented/virtual reality(AR/VR).In this study,an optically driven wearable human-interactive smart...Wearable human-machine interface(HMI)is an advanced technology that has a wide range of applications from robotics to augmented/virtual reality(AR/VR).In this study,an optically driven wearable human-interactive smart textile is proposed by integrating a polydimethylsiloxane(PDMS)patch embedded with optical micro/nanofibers(MNF)array with a piece of textiles.Enabled by the highly sensitive pressure dependent bending loss of MNF,the smart textile shows high sensitivity(65.5 kPa^(−1))and fast response(25 ms)for touch sensing.Benefiting from the warp and weft structure of the textile,the optical smart textile can feel slight finger slip along the MNF.Furthermore,machine learning is utilized to classify the touch manners,achieving a recognition accuracy as high as 98.1%.As a proof-of-concept,a remote-control robotic hand and a smart interactive doll are demonstrated based on the optical smart textile.This optical smart textile represents an ideal HMI for AR/VR and robotics applications.展开更多
The ability to sense heat and touch is essential for healthcare,robotics,and human–machine interfaces.By taking advantage of the engineerable waveguiding properties,we design and fabricate a flexible optical microfib...The ability to sense heat and touch is essential for healthcare,robotics,and human–machine interfaces.By taking advantage of the engineerable waveguiding properties,we design and fabricate a flexible optical microfiber sensor for simultaneous temperature and pressure measurement based on theoretical calculation.The sensor exhibits a high temperature sensitivity of 1.2 nm/℃ by measuring the shift of a high-order mode cutoff wavelength in the short-wavelength range.In the case of pressure sensing,the sensor shows a sensitivity of 4.5%per kilopascal with a fast temporal frequency response of 1000 Hz owing to the strong evanescent wave guided outside the microfiber.The cross talk is negligible because the temperature and pressure signals are measured at different wavelengths based on different mechanisms.The properties of fast temporal response,high temperature,and pressure sensitivity enable the sensor for real-time skin temperature and wrist pulse measurements,which is critical to the accurate analysis of pulse waveforms.We believe the sensor will have great potential in wearable optical devices ranging from healthcare to humanoid robots.展开更多
Skin-integrated electronics,also known as electronic skin(e-skin);are rapidly developing and are gradually being adopted in biomedical fields as well as in our daily lives.E-skin capable of providing sensitive and hig...Skin-integrated electronics,also known as electronic skin(e-skin);are rapidly developing and are gradually being adopted in biomedical fields as well as in our daily lives.E-skin capable of providing sensitive and high-resolution tactile sensations and haptic feedback to the human body would open a new e-skin paradigm for closed-loop human-machine interfaces.Here,we report a class of materials and mechanical designs for the miniaturization of mechanical actuators and strategies for their integration into thin,soft e-skin for haptic interfaces.The mechanical actuators exhibit small dimensions of 5 mm diameter and 1.45 mm thickness and work in an electromagnetically driven vibrotactile mode with resonance frequency overlapping the most sensitive frequency of human skin.Nine mini actuators can be integrated simultaneously in a small area of 2 cm×2 cm to form a 3×3 haptic feedback array,which is small and compact enough to mount on a thumb tip.Furthermore,the thin,soft haptic interface exhibits good mechanical properties that work properly during stretching,bending,and twisting and therefore can conformally fit onto various parts of the human body to afford programmable tactile enhancement and Braille recognition with an accuracy rate over 85%.展开更多
基金the National Natural Science Foundation of China(Grant No.52072041)the Beijing Natural Science Foundation(Grant No.JQ21007)+2 种基金the University of Chinese Academy of Sciences(Grant No.Y8540XX2D2)the Robotics Rhino-Bird Focused Research Project(No.2020-01-002)the Tencent Robotics X Laboratory.
文摘Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this unique capability in robots remains a significant challenge.Here,we present a new form of ultralight multifunctional tactile nano-layered carbon aerogel sensor that provides pressure,temperature,material recognition and 3D location capabilities,which is combined with multimodal supervised learning algorithms for object recognition.The sensor exhibits human-like pressure(0.04–100 kPa)and temperature(21.5–66.2℃)detection,millisecond response times(11 ms),a pressure sensitivity of 92.22 kPa^(−1)and triboelectric durability of over 6000 cycles.The devised algorithm has universality and can accommodate a range of application scenarios.The tactile system can identify common foods in a kitchen scene with 94.63%accuracy and explore the topographic and geomorphic features of a Mars scene with 100%accuracy.This sensing approach empowers robots with versatile tactile perception to advance future society toward heightened sensing,recognition and intelligence.
基金We are grateful for financial supports from the National Natural Science Foundation of China(No.61975173)the National Key Research and Development Program of China(No.SQ2019YFC170311)+3 种基金the Major Scientific Research Project of Zhejiang Lab(No.2019MC0AD01)the Key Research and Development Project of Zhejiang Province(No.2021C05003)the Quantum Joint Funds of the Natural Foundation of Shandong Province(No.ZR2020LLZ007)the CIE-Tencent Robotics X Rhino-Bird Focused Research Program(No.2020-01-006).
文摘Flexible strain sensors play an important role in electronic skins,wearable medical devices,and advanced robots.Herein,a highly sensitive and fast response optical strain sensor with two evanescently coupled optical micro/nanofibers(MNFs)embedded in a polydimethylsiloxane(PDMS)film is proposed.The strain sensor exhibits a gauge factor as high as 64.5 for strain≤0.5%and a strain resolution of 0.0012%which corresponds to elongation of 120 nm on a 1 cm long device.As a proof-of-concept,highly sensitive fingertip pulse measurement is realized.The properties of fast temporal frequency response up to 30 kHz and a pressure sensitivity of 102 kPa^(−1) enable the sensor for sound detection.Such versatile sensor could be of great use in physiological signal monitoring,voice recognition and micro-displacement detection.
基金National Natural Science Foundation of China(Grant No.51875495)National Key R&D Program of China(Grant No.2017YFB1301901)Hebei Provincial Science and Technology Project of China(Grant No.206Z1805G).
文摘In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is analyzed.After that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the prototype.This work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.
基金We acknowledge funding from the National Natural Science Foundation of China(No.61975173)Major Scientific Research Project of Zhejiang Lab(No.2019MC0AD01)+1 种基金Key Research and Development Project of Zhejiang Province(No.2021C05003)the CIE-Tencent Robotics X Rhino-Bird Focused Research Program(No.2020-01-006).
文摘Wearable human-machine interface(HMI)is an advanced technology that has a wide range of applications from robotics to augmented/virtual reality(AR/VR).In this study,an optically driven wearable human-interactive smart textile is proposed by integrating a polydimethylsiloxane(PDMS)patch embedded with optical micro/nanofibers(MNF)array with a piece of textiles.Enabled by the highly sensitive pressure dependent bending loss of MNF,the smart textile shows high sensitivity(65.5 kPa^(−1))and fast response(25 ms)for touch sensing.Benefiting from the warp and weft structure of the textile,the optical smart textile can feel slight finger slip along the MNF.Furthermore,machine learning is utilized to classify the touch manners,achieving a recognition accuracy as high as 98.1%.As a proof-of-concept,a remote-control robotic hand and a smart interactive doll are demonstrated based on the optical smart textile.This optical smart textile represents an ideal HMI for AR/VR and robotics applications.
基金supported by the Science Technology and Innovation Committee of Shenzhen Municipality(JCYJ20170817111714314)the National Natural Science Foundation of China(52073138 and 51771089)+2 种基金the Guangdong Innovative and Entrepreneurial Research Team Program(2016ZT06G587)the Shenzhen Sci-Tech Fund(KYTDPT20181011104007)the Tencent Robotics X Lab Rhino-Bird Focused Research Program(JR201984)。
基金National Key Research and Development Program of China(2018YFB2200400)National Natural Science Foundation of China(61975173,62075192)+2 种基金Natural Science Foundation of Zhejiang Province(LQ21F050001,LQ22F050021)Major Scientific Research Project of Zhejiang Lab(2019MC0AD01)Key Research and Development Project of Zhejiang Province(2021C05003)。
文摘The ability to sense heat and touch is essential for healthcare,robotics,and human–machine interfaces.By taking advantage of the engineerable waveguiding properties,we design and fabricate a flexible optical microfiber sensor for simultaneous temperature and pressure measurement based on theoretical calculation.The sensor exhibits a high temperature sensitivity of 1.2 nm/℃ by measuring the shift of a high-order mode cutoff wavelength in the short-wavelength range.In the case of pressure sensing,the sensor shows a sensitivity of 4.5%per kilopascal with a fast temporal frequency response of 1000 Hz owing to the strong evanescent wave guided outside the microfiber.The cross talk is negligible because the temperature and pressure signals are measured at different wavelengths based on different mechanisms.The properties of fast temporal response,high temperature,and pressure sensitivity enable the sensor for real-time skin temperature and wrist pulse measurements,which is critical to the accurate analysis of pulse waveforms.We believe the sensor will have great potential in wearable optical devices ranging from healthcare to humanoid robots.
基金the City University of Hong Kong(Grant Nos.9610423,9667199,9667221,9680322)Research Grants Council of the Hong Kong Special Administrative Region(Grant Nos.21210820,11213721)+5 种基金Hong Kong Center for Cerebra-Cardiovascular Health Engineering,Tencent Robotics X(Grant No.9231409)Shenzhen Science and Technology Innovation Commission(Grant No.JCYJ20200109110201713)Science and Technology of Sichuan Province(Grant No.2020YFH0181)National Natural Science Foundation of China(Grant No.12072057)LiaoNing Revitalization Talents Program(Grant No.XLYC2007196)Fundamental Research Funds for the Central Universities(Grant No.DUT20RC⑶032).
文摘Skin-integrated electronics,also known as electronic skin(e-skin);are rapidly developing and are gradually being adopted in biomedical fields as well as in our daily lives.E-skin capable of providing sensitive and high-resolution tactile sensations and haptic feedback to the human body would open a new e-skin paradigm for closed-loop human-machine interfaces.Here,we report a class of materials and mechanical designs for the miniaturization of mechanical actuators and strategies for their integration into thin,soft e-skin for haptic interfaces.The mechanical actuators exhibit small dimensions of 5 mm diameter and 1.45 mm thickness and work in an electromagnetically driven vibrotactile mode with resonance frequency overlapping the most sensitive frequency of human skin.Nine mini actuators can be integrated simultaneously in a small area of 2 cm×2 cm to form a 3×3 haptic feedback array,which is small and compact enough to mount on a thumb tip.Furthermore,the thin,soft haptic interface exhibits good mechanical properties that work properly during stretching,bending,and twisting and therefore can conformally fit onto various parts of the human body to afford programmable tactile enhancement and Braille recognition with an accuracy rate over 85%.
