[1]黄海明,吴林源,林俊豪,等.基于内嵌型光学弯曲传感器的软体手感知[J].深圳大学学报理工版,2019,36(No.3(221-346)):237-244.[doi:10.3724/SP.J.1249.2019.03229]
 HUANG Haiming,WU Linyuan,LIN Junhao,et al.Soft hand perception based on embedded optical fiber bending sensor[J].Journal of Shenzhen University Science and Engineering,2019,36(No.3(221-346)):237-244.[doi:10.3724/SP.J.1249.2019.03229]
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基于内嵌型光学弯曲传感器的软体手感知()
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《深圳大学学报理工版》[ISSN:1000-2618/CN:44-1401/N]

卷:
第36卷
期数:
2019年No.3(221-346)
页码:
237-244
栏目:
【电子与信息科学】
出版日期:
2019-05-20

文章信息/Info

Title:
Soft hand perception based on embedded optical fiber bending sensor
文章编号:
201903003
作者:
黄海明1吴林源1林俊豪1方斌2孙富春12
1)深圳大学电子与信息工程学院,广东深圳 518060
2)清华大学智能技术与系统国家重点实验室,北京 100084
Author(s):
HUANG Haiming1 WU Linyuan1 LIN Junhao1 FANG Bin2 and SUN Fuchun12
1) College of Electronics and Information Engineering, Shenzhen University, Shenzhen 518060, Guangdong Province, P.R.China
2) Department of Computer Science and Technology, Tsinghua University, Beijing 100084, P.R.China
关键词:
机器人技术智能机器人柔性传感软体机器手光导纤维弯曲感知姿态识别
Keywords:
robot technology intelligent robot flexible sensor soft robotic hand optical fiber curvature perception posture recognition
分类号:
TP242.6
DOI:
10.3724/SP.J.1249.2019.03229
文献标志码:
A
摘要:
软体仿人手的感知能力是实现友好交互和灵巧操作的重要条件.柔性的光学弯曲传感器由发光二极管(light emitting diode, LED)、光导纤维和光敏传感器组成,易嵌于软体手指内.经粗糙化的光导纤维可产生光线溢出,通过测量光能损耗量可获得软体手指的弯曲度;利用归一化标定软体手指初始(伸直)和最大弯曲状态的采样电压值,对归一化后的电压值进行均匀、非均匀和滞环分段,并融合5指弯曲信息实现连续运动检测、动作姿态和物体大小识别.实验结果表明,光学弯曲传感器可检测连续正弦运动状态;正确识别多种手势和抓握姿态;也可识别物体大小,结合滞环分段方法,解决单点分类切换存在振荡不足的问题,提高识别率.这种光学式柔性弯曲传感器具有电磁免疫、易于内嵌的优势,在软体手和软体执行器中具有重要应用价值.
Abstract:
The perception capability of soft humanoid hand is very important to the implementation of friendly interactive and dexterous operation. The flexible optical bending sensor which is easy to be embedded into the soft finger is comprised of light emitting diode (LED), optical fiber and photo-sensitive sensor. The roughened optical fibers can generate light overflow. And the bend degree of soft fingers can be obtained by detecting the loss of light energy. The abilities of continuous movement detection, action gestures and object size recognition are implemented according to the following operations: ① calibrating the initial (unbent) and maximum bending statuses of soft fingers with normalization method; ② segmenting the normalized data by uniform, nonuniform and hysteresis segment method; ③ merging together the information of five fingers. The experiment results show that the proposed optical fiber bending sensor is able to detect the continuous sinusoidal movement status, correctly recognize various gestures and grasping postures and the object size. Combining hysteresis subsection method, the shortcoming of single point subsection oscillating near subsection point is overcome, and the recognition rate is improved. This optical flexible bending sensor has the advantages of electromagnetic immunity and easy to be embedded. It has important application value in soft robotic hand or soft actuator.

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备注/Memo

备注/Memo:
Received:2018-09-29;Accepted:2018-12-13
Foundation:National Natural Science Foundation of China (61803267, 61503212); China Postdoctoral Science Foundation (2017M622757); Beijing Science and Technology Program (Z171100000817007)
Corresponding author:Doctor HUANG Haiming.E-mail: haimhuang@163.com
Citation:HUANG Haiming, WU Linyuan, LIN Junhao, et al.Soft hand perception based on embedded optical fiber bending sensor[J]. Journal of Shenzhen University Science and Engineering, 2019, 36(3): 237-244.(in Chinese)
基金项目:国家自然科学基金资助项目(61803267, 61503212);中国博士后科学基金资助项目(2017M622757);北京市科技计划资助项目(Z171100000817007)
作者简介:黄海明(1985—),深圳大学博士后研究人员.研究方向:软体机器人、柔性传感、机器人技术、嵌入式机电控制系统,以及机器学习.E-mail:haimhuang@163.com
引文:黄海明,吴林源,林俊豪,等.基于内嵌型光学弯曲传感器的软体手感知[J]. 深圳大学学报理工版,2019,36(3):237-244.
更新日期/Last Update: 2019-04-22