人工皮肤滑觉信号的模糊处理

Slip Signal Fuzzy Processing for An Artificial-skin Tactile

本文阐述了一种用PVDF制成的人工皮肤触觉传感器的结构、信号采集及其处理系统。在对触觉信号的分析中，物体滑动时的信号具有明显的特征，针对滑动时机械手的控制特点，对滑觉信号的处理引入了模糊理论，文中最后给出了这一方法下滑觉控制抓取物体时的试验结果。

This paper discusses the design of an artificial-skin tactile sensor. Analyzing tactile signal,we discover that the slip motion has obvious characteristics on its signal. In accordance with manipulator control which based slip sensing,we use the fuzzy theory to process the slip signal. At the end of the paper an experimental result is given.