Friction plays a critical role in dexterous robotic manipulation.However,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces.Inspired by ...Friction plays a critical role in dexterous robotic manipulation.However,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces.Inspired by the topological mechanics of knots,we construct optical fiber knot(OFN)sensors for slip detection and friction measurement.By introducing localized self-contacts along the fiber,the knot structure enables anisotropic responses to normal and frictional forces.By employing OFNs and a change point detection algorithm,we demonstrate adaptive robotic grasping of slipping cups.We further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five OFNs.Such a tactile finger allows a robotic hand to manipulate human tools dexterously.This work could provide a straightforward and cost-effective strategy for promoting adaptive grasping,dexterous manipulation,and human-robot interaction with tactile sensing.展开更多
Fundamental principles from structural dynamics,random theory and perturbation methods are adopted to develop a new response spectrum combination rule for the seismic analysis of non-classically damped systems,such as...Fundamental principles from structural dynamics,random theory and perturbation methods are adopted to develop a new response spectrum combination rule for the seismic analysis of non-classically damped systems,such as structure-damper systems. The approach,which is named the perturbation spectrum method,can provide a more accurate evaluation of a non-classically damped system's mean peak response in terms of the ground response spectrum. To account for the effect of non-classical damping,all elements are included in the proposed method for seismic analysis of structure,which is usually ap-proximated by ignoring the off-diagonal elements of the modal damping matrix. Moreover,as has been adopted in the traditional Complete Quadratic Combination (CQC) method,the white noise model is also used to simplify the expressions of perturbation correlation coefficients. Finally,numerical work is performed to examine the accuracy of the proposed method by comparing the approximate results with exact ones and to demonstrate the importance of the neglected off-diagonal elements of the modal damping matrix. In the examined cases,the proposed method shows good agreement with direct time-history integration. Also,the perturbation spectrum method leads to a more efficient and economical calculation by avoiding the integral and complex operation.展开更多
基金grateful for financial supports from National Natural Science Foundation of China(61975173)China Postdoctoral Science Foundation(2022M722907,2022M722909)+2 种基金Zhejiang Provincial Natural Science Foundation of China(LQ23F010015)Key Research and Development Project of Zhejiang Province(2021C05003)Major Scientific Research Project of Zhejiang Lab(2019MC0AD01).
文摘Friction plays a critical role in dexterous robotic manipulation.However,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces.Inspired by the topological mechanics of knots,we construct optical fiber knot(OFN)sensors for slip detection and friction measurement.By introducing localized self-contacts along the fiber,the knot structure enables anisotropic responses to normal and frictional forces.By employing OFNs and a change point detection algorithm,we demonstrate adaptive robotic grasping of slipping cups.We further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five OFNs.Such a tactile finger allows a robotic hand to manipulate human tools dexterously.This work could provide a straightforward and cost-effective strategy for promoting adaptive grasping,dexterous manipulation,and human-robot interaction with tactile sensing.
基金Project supported by the Program for Changjiang Scholars and Innovative Research Team in University (No. IRT0518)the Program of Introducing Talents of Discipline to Universities (No. B08014), China
文摘Fundamental principles from structural dynamics,random theory and perturbation methods are adopted to develop a new response spectrum combination rule for the seismic analysis of non-classically damped systems,such as structure-damper systems. The approach,which is named the perturbation spectrum method,can provide a more accurate evaluation of a non-classically damped system's mean peak response in terms of the ground response spectrum. To account for the effect of non-classical damping,all elements are included in the proposed method for seismic analysis of structure,which is usually ap-proximated by ignoring the off-diagonal elements of the modal damping matrix. Moreover,as has been adopted in the traditional Complete Quadratic Combination (CQC) method,the white noise model is also used to simplify the expressions of perturbation correlation coefficients. Finally,numerical work is performed to examine the accuracy of the proposed method by comparing the approximate results with exact ones and to demonstrate the importance of the neglected off-diagonal elements of the modal damping matrix. In the examined cases,the proposed method shows good agreement with direct time-history integration. Also,the perturbation spectrum method leads to a more efficient and economical calculation by avoiding the integral and complex operation.
