新型智能机器人触觉传感服装阵列标定的研究

Calibration research on a new type of tactile sensing suit array for intelligent robot

为使智能机器人在汽车冲撞试验中获得准确的触觉信息,研发了一种基于导电橡胶压阻特性的新型触觉传感服装阵列。针对该传感阵列设计了静态标定试验装置,在常温下(25℃)研究了不同型号的导电橡胶(N05,N10,N15)的压阻行为特性,选出压敏性最佳的N10作为触觉传感服装的敏感元件;在此基础上提出了标定方案,标定结果表明:高斯回归曲线与测量数据可以最佳拟合,拟合相似度达到99.56%,因此,将其确立为传感器的标定模型。实验结果表明:标定后的触觉服装传感阵列可以很好地恢复接触物体的受力分布图,验证了标定方案的可行性。

In order to obtain accurate tactile sense information in the automotive collision test of intelligent robots,a new type of tactile sensing suit array based on the piezoresistive characteristics of conductive rubber is developed.A static calibration test equipment is designed for the sensor array.The piezoresistive properties of different types of conductive rubber（N05,N10,N15）are discussed at room temperature（25℃）,and the best performance rubber（N10）is chosen as sensitive component of the sensor.A kind of calibration test program is proposed.Calibration results show that Gaussian regression curve can achieve optimal fitting for measured data,and the similarity between them is 99.56%,so it is selected to establish the calibration model for the sensor.The confirmatory test results show that the calibrated sensing suit array can recover force distribution map of contact bodies well,thus the feasibility of the calibration experiment plan is verified.