触觉传感器的类指纹结构分析

THE CHARACTERISTICS OF FINGERPRINT-LIKE COVER FOR TACTILE SENSOR

  • 摘要: 机器人触觉传感器上覆盖的弹性保护膜有很强的低通滤波作用,使空间分辨率无法提高.本文提出一种类似指纹的结构,可以在不影响保护膜厚度的情况下减弱低通作用.仿真结果表明,通过仔细选取指纹的结构参数,该结构可以有效地提高空间高频的增益,从而提高触觉传感器的空间分辨率.

     

    Abstract: The elastic cover of tactile sensors can decrease the spatial resolution of the tactile sensor due to its low pass spatial filtering characteristics. The fingerprint of human being seems theoretically to be able to partly solve this problem. In this paper, we analyze the characteristics of the fingerprint like elastic cover of robot tactile sensor. The result shows that the fingerprint like cover can effectively improve the high spatial frequency gain of elastic cover by carefully selecting the A, B, h1, h2 parameters of the fingerprints.

     

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