论文标题
嵌入的软环执行器中的软性传感，以帮助旋转操纵的theSelf-Organization
Embedded Soft Sensing in Soft Ring Actuator for Aiding with theSelf-Organisation of the In-Hand Rotational Manipulation
论文作者
论文摘要
本文提出了一个软环执行器中的软传感器，用五个手指作为软手，以识别手工操纵过程中操纵物体的分叉。通过将对象分叉至顺时针或逆时针旋转，通过用未进取的控制系统打破对称方法来进行操作。两个软传感器在单个软手指上并行嵌入，并且当手指移位或沿特定方向弯曲时，比较电阻测量的差异，这可以识别分叉方向并有助于在不需要外部跟踪设备的情况下识别对称方法的突破。传感器的性能还以扩展和弯曲手指而没有对象相互作用的特征。在执行对称性断裂的实验中，操纵对象根据扰动和驱动频率逆时针转动，传感器可以跟踪旋转方向。嵌入式传感器提供了在未来工作中实现闭环控制的自感能力。软环执行器性能表现出一种自组织的行为，而软手指旋转物体而无需控制物体的控制。因此，软手指是一个不足的系统，当与手持操作场的物体相互作用时，具有复杂的行为。
This paper proposes a soft sensor embedded in a soft ring actuator with five fingers as a soft hand to identify the bifurcation of manipulated objects during the in-hand manipulation process. The manipulation is performed by breaking the symmetry method with an underactuated control system by bifurcating the object to clockwise or counter-clockwise rotations. Two soft sensors are embedded in parallel over a single soft finger, and the difference in the resistance measurements is compared when the finger is displaced or bent in a particular direction, which can identify the bifurcation direction and aid in the break of symmetry approach without the need of external tracking devices. The sensors performance is also characterised by extending and bending the finger without an object interaction. During an experiment that performs a break of symmetry, manipulated objects turn clockwise and counter-clockwise depending on the perturbation and actuation frequency, sensors can track the direction of rotation. The embedded sensors provide a self-sensing capability for implementing a closed-loop control in future work. The soft ring actuator performance presents a self-organisation behaviour with soft fingers rotating an object without a required control for rotating the object. Therefore, the soft fingers are an underactuated system with complex behaviour when interacting with objects that serve in-hand manipulation field.
