论文标题
仿生触觉指纹可引起初期滑动
A Biomimetic Tactile Fingerprint Induces Incipient Slip
论文作者
论文摘要
我们提出了修改的Tactip仿生光学触觉传感器设计，该设计证明了诱导和检测初期滑动的能力，如将标记在传感器外表面上的运动所证实。初期滑移定义为传感器和物体之间接触表面的零件滑坡，但不是全部。加入脊（模仿人指尖中的摩擦脊）以同心环模式，可以使局部剪切变形在传感器表面发生在很大的持续时间上，然后再发作。通过检测初期滑移，我们能够预测何时有几个不同形状的物体有跌落的风险并阻止它们这样做。检测初期滑移很有用，因为在整个接触区域发生滑移之前，可以采取纠正措施，从而最大程度地减少对物体的风险。
We present a modified TacTip biomimetic optical tactile sensor design which demonstrates the ability to induce and detect incipient slip, as confirmed by recording the movement of markers on the sensor's external surface. Incipient slip is defined as slippage of part, but not all, of the contact surface between the sensor and object. The addition of ridges - which mimic the friction ridges in the human fingertip - in a concentric ring pattern allowed for localised shear deformation to occur on the sensor surface for a significant duration prior to the onset of gross slip. By detecting incipient slip we were able to predict when several differently shaped objects were at risk of falling and prevent them from doing so. Detecting incipient slip is useful because a corrective action can be taken before slippage occurs across the entire contact area thus minimising the risk of objects been dropped.
