Abstract: The force sensing resistor (FSR) and its con’struction and characteristic are described. By using the optimal electronic interface, the end result which is a direct proportionality between force and voltage...Abstract: The force sensing resistor (FSR) and its con’struction and characteristic are described. By using the optimal electronic interface, the end result which is a direct proportionality between force and voltage is obtained. The circuits of application for force and position measurements in the robotic control are given. The experiment that FSRs are placed on the fingers of BH - 1 dexterous hand as tactile sensors to measure the contacting forces shows FSR’s force sensitivity is optimized for use in the control of robot contacting with environment.展开更多
This study was designed to observe and compare the circadian fluctuations in tactile sense, joint reposition sense and two-point discrimination in healthy subjects. Twenty-one healthy adult subjects received perceptua...This study was designed to observe and compare the circadian fluctuations in tactile sense, joint reposition sense and two-point discrimination in healthy subjects. Twenty-one healthy adult subjects received perceptual ability tests through these three different sensory modules at approximately 9：00, 13：00 and 18：00 in a day. The distribution of ranking for perceptual ability was significantly different among the three different time points in each individual, with highest perceptual ability in the evening compared with noon and morning, in terms of tactile sense and two-point discrimination. These findings suggest that the perceptual ability of healthy subjects fluctuates according to the time points in a day.展开更多
A quadruped robot with four actuated hip joints and four passive highly compliant knee joints is used to demonstrate the potential of underactuation from two standpoints： learning locomotion and perception. First, we...A quadruped robot with four actuated hip joints and four passive highly compliant knee joints is used to demonstrate the potential of underactuation from two standpoints： learning locomotion and perception. First, we show that： （i） forward locomotion on flat ground can be learned rapidly （minutes of optimization time）; （ii） a simulation study reveals that a passive knee configuration leads to faster, more stable, and more efficient locomotion than a variant of the robot with active knees; （iii） the robot is capable of learning turning gaits as well. The merits of underactuation （reduced controller complexity, weight, and energy consumption） are thus preserved without compromising the versatility of behavior. Direct optimization on the reduced space of active joints leads to effective learning of model-free controllers. Second, we find passive compliant joints with po- tentiometers to effectively complement inertial sensors in a velocity estimation task and to outperform inertial and pressure sensors in a terrain detection task. Encoders on passive compliant joints thus constitute a cheap and compact but powerful sensing device that gauges joint position and force/torque, and -- if mounted more distally than the last actuated joints in a legged robot -- it delivers valuable information about the interaction of the robot with the ground.展开更多
文摘Abstract: The force sensing resistor (FSR) and its con’struction and characteristic are described. By using the optimal electronic interface, the end result which is a direct proportionality between force and voltage is obtained. The circuits of application for force and position measurements in the robotic control are given. The experiment that FSRs are placed on the fingers of BH - 1 dexterous hand as tactile sensors to measure the contacting forces shows FSR’s force sensitivity is optimized for use in the control of robot contacting with environment.
基金supported by Basic Science Research Program through the National Research Foundation of Korea(NRF)funded by the Ministry of Education,Science and Technology,No.2012R1A1B4003477
文摘This study was designed to observe and compare the circadian fluctuations in tactile sense, joint reposition sense and two-point discrimination in healthy subjects. Twenty-one healthy adult subjects received perceptual ability tests through these three different sensory modules at approximately 9：00, 13：00 and 18：00 in a day. The distribution of ranking for perceptual ability was significantly different among the three different time points in each individual, with highest perceptual ability in the evening compared with noon and morning, in terms of tactile sense and two-point discrimination. These findings suggest that the perceptual ability of healthy subjects fluctuates according to the time points in a day.
基金Acknowledgment Matej Hoffmann was supported by the Swiss National Science Foundation project ＂From locomotion to cognition＂ （Grant No. 200020-122279/1）. Jakub Simanek was supported by the Grant Agency of the CTU in Prague （Grant No. SGS 15/163/OHK3/2T/13）. Matej Hoffmann would like to thank Roll Pfeifer for continuous support of this project and to the collaborators that contributed to the investigations that laid the foundations for this work, in particular Fumiya Iida, Michal Reinstein, Nico Schmidt, and students Stefan Hutter, Richard Meuris, Nicolas Ruegg, Urs Fassler, and Mathias Weyland. We would also like to thank Koh Hosoda for the idea that passive joints may increase the overall ground contact duration of individual legs and Nadja Schilling for a discussion of the ＂template＂ of leg morphology in mammalian running. Finally, we are indebted to Michal Reinstein and Kenichi Narioka for valuable comments on the manuscript.
文摘A quadruped robot with four actuated hip joints and four passive highly compliant knee joints is used to demonstrate the potential of underactuation from two standpoints： learning locomotion and perception. First, we show that： （i） forward locomotion on flat ground can be learned rapidly （minutes of optimization time）; （ii） a simulation study reveals that a passive knee configuration leads to faster, more stable, and more efficient locomotion than a variant of the robot with active knees; （iii） the robot is capable of learning turning gaits as well. The merits of underactuation （reduced controller complexity, weight, and energy consumption） are thus preserved without compromising the versatility of behavior. Direct optimization on the reduced space of active joints leads to effective learning of model-free controllers. Second, we find passive compliant joints with po- tentiometers to effectively complement inertial sensors in a velocity estimation task and to outperform inertial and pressure sensors in a terrain detection task. Encoders on passive compliant joints thus constitute a cheap and compact but powerful sensing device that gauges joint position and force/torque, and -- if mounted more distally than the last actuated joints in a legged robot -- it delivers valuable information about the interaction of the robot with the ground.
