论文标题
使用声感应的虚拟2D触觉阵列用于软执行器
A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing
论文作者
论文摘要
我们使用嵌入式音频组件为软气动执行器创建虚拟2D触觉阵列。我们检测到声音调制的特定接触特定变化以推断触觉信息。我们评估不同的声音表示和学习方法，甚至可以检测到较小的接触变化。我们以pneflex执行器的示例演示了声学触觉传感器阵列，并使用盲文显示器单独控制29x4销与执行器的90x10 mm棕榈表面的接触。评估空间分辨率，声传感器以X和Y方向将边缘定位在X和Y方向上，其根平方回归误差分别为1.67 mm和0.0 mm。甚至具有高度精确度测量的单盲文销的光接触。最后，我们通过成功阅读单个显示单元格的26个字母，分类速率为88％，从而证明了传感器对复杂接触形状的敏感性。
We create a virtual 2D tactile array for soft pneumatic actuators using embedded audio components. We detect contact-specific changes in sound modulation to infer tactile information. We evaluate different sound representations and learning methods to detect even small contact variations. We demonstrate the acoustic tactile sensor array by the example of a PneuFlex actuator and use a Braille display to individually control the contact of 29x4 pins with the actuator's 90x10 mm palmar surface. Evaluating the spatial resolution, the acoustic sensor localizes edges in x- and y-direction with a root-mean-square regression error of 1.67 mm and 0.0 mm, respectively. Even light contacts of a single Braille pin with a lifting force of 0.17 N are measured with high accuracy. Finally, we demonstrate the sensor's sensitivity to complex contact shapes by successfully reading the 26 letters of the Braille alphabet from a single display cell with a classification rate of 88%.
