Progress is described regarding the development of a new electrotactile feedback glove designed for application to dexterous robot. The sensitivity of operator's finger against electrical stimulus pulse is conside...Progress is described regarding the development of a new electrotactile feedback glove designed for application to dexterous robot. The sensitivity of operator's finger against electrical stimulus pulse is considered. It is found that frequency, duty ratio, and voltage amplitude of electrical stimulus pulse determine the sensitivity of finger. The effects of materials, sizes, arrangements and shapes of electrodes on sensitivity of finger are analyzed. Finally, the tactile tele presence system is designed to experimentally confirm that the robot with electrotactile feedback glove can manipulate dexterous robotic multi fingered hand and identify and classify three sorts of objects.展开更多
As described in this paper, we propose a new haptic interface for a service robot. For safety with service robots working in a space where people live, some notification before collision with an obstacle is desirable....As described in this paper, we propose a new haptic interface for a service robot. For safety with service robots working in a space where people live, some notification before collision with an obstacle is desirable. To achieve such a function, we developed a master-slave manipulator system in which the slave manipulator surface is covered with many proximity sensors. Additionally, we developed a haptic device that feeds back proximity sense information to the operator using small vibration motors. We attached the haptic device to the arm of the operator and vibrated the vibration motor corresponding to the sensor. Thereby, the operator was able to ascertain the position of an object near the manipulator, and to make the robot maneuver to avoid it before collision. To confirm the system usefulness, we equipped subjects with the developed proximity sense presentation device and performed a detection-position-specific experiment and an obstacle avoidance experiment in a narrow space. As results of the detection position specific experiment on five subjects, four subjects reported the detection position correctly. The remaining one person failed because of his particular arm shape. Operation experiments conducted in a narrow space showed that all subjects＇ work was successful when given feedback of proximity sense information. Nobody was successful without proximity sense information. Results of these two experiments demonstrate that this proposed system is useful for obstacle avoidance of a master-slave manipulator system.展开更多
Scanning electron microscopy was done to describe the morphology of antennaof adult male and fe- male ladybeetle, Coccinella septempunctata . Eleven-segmented, scaly antennawas 950μm in male and 980 μm in female. El...Scanning electron microscopy was done to describe the morphology of antennaof adult male and fe- male ladybeetle, Coccinella septempunctata . Eleven-segmented, scaly antennawas 950μm in male and 980 μm in female. Electron micrographs reveal the occurrence of eight typesof sensillae, viz. chaetica ( Ch) , trichoidea (Tr) , basiconica (Ba) , campaniformia (Ca) ,ampucellaceous (Am) , scolopalia (Sc) , placoidea (PI) and hook shaped sensilla on the antennae ofmale and female ladybeetles. Ch had long external-process, with base surrounded by membranous socketand the length was 60 and 70 μm in male and female ladybeetle, respectively. Sensillae Tr weredistally curved and inserted into depression, 9.0 and 15 μm long in male and female ladybeetle,respectively. Sensillae Ba were cuticular peg-like and 0.57 and 0.70 μm long on the male and femaleantennae. Sensillae Ca were small dome-like and had diameter of 3.0μm in both the sexes. SensillaeAm were pit-like in appearance and the diameter of the pit was 1.2 and 1.5 in male and femaleladybeetle, respectively. Sensillae PI were elliptical sunken plates like in both the sexes.Sensillae Sc were broad at their apex and pointed at their tip, 2.5μm. A single hook-shapedsensilla of 21.0 μm in length was present on male antenna only. Ch, Ca, Am, and PI were almostsimilar in numbers in both the sexes. Sensillae Tr were more numerous on the male antenna and Bawere more numerous on the female antenna.展开更多
Recently,research on two-dimensional(2D)semiconductors has begun to translate from the fundamen-tal investigation into rudimentary functional circuits.In this work,we unveil the first functional MoS2 artificial neural...Recently,research on two-dimensional(2D)semiconductors has begun to translate from the fundamen-tal investigation into rudimentary functional circuits.In this work,we unveil the first functional MoS2 artificial neural network(ANN)chip,including multiply-and-accumulate(MAC),memory and activation function circuits.Such MoS2 ANN chip is realized through fabricating 818 field-effect transistors(FETs)on a wafer-scale and high-homogeneity MoS2 film,with a gate-last process to realize top gate structured FETs.A 62-level simulation program with integrated circuit emphasis(SPICE)model is utilized to design and optimize our analog ANN circuits.To demonstrate a practical application,a tactile digit sensing recognition was demonstrated based on our ANN circuits.After training,the digit recognition rate exceeds 97%.Our work not only demonstrates the protentional of 2D semiconductors in wafer-scale inte-grated circuits,but also paves the way for its future application in AI computation.展开更多
文摘Progress is described regarding the development of a new electrotactile feedback glove designed for application to dexterous robot. The sensitivity of operator's finger against electrical stimulus pulse is considered. It is found that frequency, duty ratio, and voltage amplitude of electrical stimulus pulse determine the sensitivity of finger. The effects of materials, sizes, arrangements and shapes of electrodes on sensitivity of finger are analyzed. Finally, the tactile tele presence system is designed to experimentally confirm that the robot with electrotactile feedback glove can manipulate dexterous robotic multi fingered hand and identify and classify three sorts of objects.
文摘As described in this paper, we propose a new haptic interface for a service robot. For safety with service robots working in a space where people live, some notification before collision with an obstacle is desirable. To achieve such a function, we developed a master-slave manipulator system in which the slave manipulator surface is covered with many proximity sensors. Additionally, we developed a haptic device that feeds back proximity sense information to the operator using small vibration motors. We attached the haptic device to the arm of the operator and vibrated the vibration motor corresponding to the sensor. Thereby, the operator was able to ascertain the position of an object near the manipulator, and to make the robot maneuver to avoid it before collision. To confirm the system usefulness, we equipped subjects with the developed proximity sense presentation device and performed a detection-position-specific experiment and an obstacle avoidance experiment in a narrow space. As results of the detection position specific experiment on five subjects, four subjects reported the detection position correctly. The remaining one person failed because of his particular arm shape. Operation experiments conducted in a narrow space showed that all subjects＇ work was successful when given feedback of proximity sense information. Nobody was successful without proximity sense information. Results of these two experiments demonstrate that this proposed system is useful for obstacle avoidance of a master-slave manipulator system.
文摘Scanning electron microscopy was done to describe the morphology of antennaof adult male and fe- male ladybeetle, Coccinella septempunctata . Eleven-segmented, scaly antennawas 950μm in male and 980 μm in female. Electron micrographs reveal the occurrence of eight typesof sensillae, viz. chaetica ( Ch) , trichoidea (Tr) , basiconica (Ba) , campaniformia (Ca) ,ampucellaceous (Am) , scolopalia (Sc) , placoidea (PI) and hook shaped sensilla on the antennae ofmale and female ladybeetles. Ch had long external-process, with base surrounded by membranous socketand the length was 60 and 70 μm in male and female ladybeetle, respectively. Sensillae Tr weredistally curved and inserted into depression, 9.0 and 15 μm long in male and female ladybeetle,respectively. Sensillae Ba were cuticular peg-like and 0.57 and 0.70 μm long on the male and femaleantennae. Sensillae Ca were small dome-like and had diameter of 3.0μm in both the sexes. SensillaeAm were pit-like in appearance and the diameter of the pit was 1.2 and 1.5 in male and femaleladybeetle, respectively. Sensillae PI were elliptical sunken plates like in both the sexes.Sensillae Sc were broad at their apex and pointed at their tip, 2.5μm. A single hook-shapedsensilla of 21.0 μm in length was present on male antenna only. Ch, Ca, Am, and PI were almostsimilar in numbers in both the sexes. Sensillae Tr were more numerous on the male antenna and Bawere more numerous on the female antenna.
基金the National Key Research and Development Program of China(2016YFA0203900,2018YFB2202500)Innovation Program of Shanghai Municipal Education Commission(2021-01-07-00-07-E00077)+3 种基金Shanghai Municipal Science and Technology Commission(18JC1410300,21DZ1100900)Research Grant Council of Hong Kong(15205619)the National Natural Science Foundation of China(61925402,61934008,and 6210030233)the Natural Science Foundation of Shanghai(21ZR1405700)。
文摘Recently,research on two-dimensional(2D)semiconductors has begun to translate from the fundamen-tal investigation into rudimentary functional circuits.In this work,we unveil the first functional MoS2 artificial neural network(ANN)chip,including multiply-and-accumulate(MAC),memory and activation function circuits.Such MoS2 ANN chip is realized through fabricating 818 field-effect transistors(FETs)on a wafer-scale and high-homogeneity MoS2 film,with a gate-last process to realize top gate structured FETs.A 62-level simulation program with integrated circuit emphasis(SPICE)model is utilized to design and optimize our analog ANN circuits.To demonstrate a practical application,a tactile digit sensing recognition was demonstrated based on our ANN circuits.After training,the digit recognition rate exceeds 97%.Our work not only demonstrates the protentional of 2D semiconductors in wafer-scale inte-grated circuits,but also paves the way for its future application in AI computation.
