원문정보
초록
영어
Tactile sensing is fundamental to human interaction with the physical world, and its importance has grown significantly with advancements in robotics and artificial intelligence. To ensure precise and repeatable gesture execution, we integrated the sensor with a UR3 robotic manipulator. Additionally, validation tests were conducted in real-world environments, including outdoor rough surfaces, industrial products with diverse materials such as glass and wood. The linear gesture enabled fundamental assessment of tensile response, the S-shaped gesture examined the sensor’s capability to capture complex nonlinear deformations, and the circular gesture evaluated its sensitivity to continuous rotational movement. Experimental results demonstrated that each gesture produced unique deformation patterns, offering valuable insights into the sensor’s response characteristics. These findings contribute to the development of standardized methodologies for tactile sensing and provide a foundation for improving robotic tactile perception in diverse applications.
목차
1. Introduction
2. System design and experimental methods
3. Results and discussion
3.1 Characteristics of tactile sensor according to depth and surface roughness
3.2 Patterns of sensor resistance change and characteristics of dynamic response for different gesture
3.3 Evaluation of Tactile Sensor Response Sensitivity and Precision for Different Gestures: A Comparison of Linear, S-Shaped, and Circular Gestures
3.4 Analysis and Optimization Methods Based on Speed and Pressing Depth for the Three Gestures
3.5 Validation of the Sensor in Real-World Environments
4. Conclusion
Acknowledgement
Reference