智能传感服装触觉信息实时采集及处理方法的研究
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摘要
触觉传感技术是机器人智能化的标志之一,实时信息获取及处理系统是智能机器人触觉传感服装研制的关键技术。本文主要针对目前智能机器人触觉传感服装阵列在数据采集方面遇到的不能兼有实时性采集和有效防止扫描串扰的难题,在分析国内外触觉传感器技术的发展现状、研究智能机器人触觉传感服装的设计原理和导电橡胶的压阻特性的基础上,综合运用了材料科学、触觉传感技术、虚拟仪器和电子技术等学科领域的理论与技术,设计了一套基于导电橡胶的智能机器人触觉传感服装阵列实时数据采集系统。
该系统的硬件主要由以下几个部分组成:8×8触觉传感器阵列、改进型行扫描电路、调理电路、SCB-68板卡连接器、屏蔽电缆、PCI-6259数据采集卡和计算机等。在触觉传感器阵列上放置一个重物,基于导电橡胶的压阻原理,压力的变化转化为导电橡胶电阻的变化。通过信号提取电路获取反映该变化的电压。本文设计的改进型扫描电路可以按顺序将每一个触元压力信息以扫描的方式采集到计算机中,经过数据处理可以恢复接触物体轮廓和压力分布情况。在NI的labVIEW环境下进行了系统软件的模块化设计。图像化的G语言程序不仅易于修改移植而且调试方便,提高了系统的开发效率。最后,在现有实验系统的条件下,搭建了数据采集实验系统,设计了验证性实验,取得了较好的实验结果。
本文设计的触觉传感阵列信息实时采集和处理系统,经过理论研究和实验验证表明是可行的,不仅实现了实时性的数据采集,而且较好地避免了串扰信号,提高了系统的稳定性与可靠性。本文的研究为教育部重点项目“基于导电橡胶的智能机器人服装”的完成做出了贡献,所研制的实时数据采集与处理系统为大规模阵列式传感器的实时信息获取与处理提供了解决方法。
Robot tactile sensing technology is one of the symbols of intelligence. Real-time information acquisition and processing system is the key technology in the developing of intelligent robot tactile sensing garment. This paper is mainly aimed at the current problems that no real-time scanning and no effectively preventing scanning crosstalk which the intelligent robot tactile sensing garment array encountered in data collection. After the analysis of the development situation in tactile sensing domestic and international, studying the design principles of intelligent robot garment and piezoresistive properties of conductive rubber, a real-time data acquisition system of intelligent robot tactile sensor clothing array based on conductive rubber is proposed. The materials science, tactile sensor technology, virtual instruments, electronic technology and other theories and disciplines are all used in the design of the data acquisition system.
The system hardware consists of the following components: 8×8 tactile sensor array, improved line scan circuit, conditioning circuit, SCB-68 board connectors, shielded cable, PCI-6259 data acquisition card and computer. When placing a heavy object on the tactile sensor array, resistance of the conductive rubber will change with the pressure because of piezoresistive principle. Then the voltage signal which responses to external pressure characteristics will be obtained from the signal extraction circuit. The improved design of the scanning circuit in this project could scan the voltage of the pressure information produced by each contact element into the computer; then the profile of the contact surface and pressure distribution will be recovered after the data processing. The software of this system is based primarily on the modular design environment of the NI labVIEW. The visualization G language program is not only convenient to transplant and debug, but also improving the system efficiency of development. Finally, under the conditions of the existing experimental system, a data acquisition system is built, several sets of verification experiments which achieved good results are designed.
Theoretical and experimental studies have shown that the design of information acquisition and processing system for the tactile sensor array which based on conductive rubber in this project is feasible, not only realizes real-time data acquisition, but also avoid the pseudo signal well, thereby the stability and reliability of this system is improved. Research of this paper makes contribution to the project "Intelligent robot suit based on conductive rubber ", and the way of the real-time data acquisition system designed provides a solution to the large-scale sensor array.
该系统的硬件主要由以下几个部分组成:8×8触觉传感器阵列、改进型行扫描电路、调理电路、SCB-68板卡连接器、屏蔽电缆、PCI-6259数据采集卡和计算机等。在触觉传感器阵列上放置一个重物,基于导电橡胶的压阻原理,压力的变化转化为导电橡胶电阻的变化。通过信号提取电路获取反映该变化的电压。本文设计的改进型扫描电路可以按顺序将每一个触元压力信息以扫描的方式采集到计算机中,经过数据处理可以恢复接触物体轮廓和压力分布情况。在NI的labVIEW环境下进行了系统软件的模块化设计。图像化的G语言程序不仅易于修改移植而且调试方便,提高了系统的开发效率。最后,在现有实验系统的条件下,搭建了数据采集实验系统,设计了验证性实验,取得了较好的实验结果。
本文设计的触觉传感阵列信息实时采集和处理系统,经过理论研究和实验验证表明是可行的,不仅实现了实时性的数据采集,而且较好地避免了串扰信号,提高了系统的稳定性与可靠性。本文的研究为教育部重点项目“基于导电橡胶的智能机器人服装”的完成做出了贡献,所研制的实时数据采集与处理系统为大规模阵列式传感器的实时信息获取与处理提供了解决方法。
Robot tactile sensing technology is one of the symbols of intelligence. Real-time information acquisition and processing system is the key technology in the developing of intelligent robot tactile sensing garment. This paper is mainly aimed at the current problems that no real-time scanning and no effectively preventing scanning crosstalk which the intelligent robot tactile sensing garment array encountered in data collection. After the analysis of the development situation in tactile sensing domestic and international, studying the design principles of intelligent robot garment and piezoresistive properties of conductive rubber, a real-time data acquisition system of intelligent robot tactile sensor clothing array based on conductive rubber is proposed. The materials science, tactile sensor technology, virtual instruments, electronic technology and other theories and disciplines are all used in the design of the data acquisition system.
The system hardware consists of the following components: 8×8 tactile sensor array, improved line scan circuit, conditioning circuit, SCB-68 board connectors, shielded cable, PCI-6259 data acquisition card and computer. When placing a heavy object on the tactile sensor array, resistance of the conductive rubber will change with the pressure because of piezoresistive principle. Then the voltage signal which responses to external pressure characteristics will be obtained from the signal extraction circuit. The improved design of the scanning circuit in this project could scan the voltage of the pressure information produced by each contact element into the computer; then the profile of the contact surface and pressure distribution will be recovered after the data processing. The software of this system is based primarily on the modular design environment of the NI labVIEW. The visualization G language program is not only convenient to transplant and debug, but also improving the system efficiency of development. Finally, under the conditions of the existing experimental system, a data acquisition system is built, several sets of verification experiments which achieved good results are designed.
Theoretical and experimental studies have shown that the design of information acquisition and processing system for the tactile sensor array which based on conductive rubber in this project is feasible, not only realizes real-time data acquisition, but also avoid the pseudo signal well, thereby the stability and reliability of this system is improved. Research of this paper makes contribution to the project "Intelligent robot suit based on conductive rubber ", and the way of the real-time data acquisition system designed provides a solution to the large-scale sensor array.
引文
[1]张福学.机器人技术及其应用(第一版)[M].北京:电子工业出版社,2000:37-44.
[2]谢涛,徐建峰,张永学等.仿人机器人的研究历史、现状及展望[J].机器人,2002,24(4):367-374.
[3]戈瑜.机器人传感器的研究与发展[J].高技术通讯,1997,(2):1-5.
[4]李二超,李战明,李炜.基于视觉的机器人灰色预测模糊力控制研究[J].中国机械工程,2010,21(17):2106-2108.
[5] H. R. Nicholls, M. H. Lee.A survey of robot tactile sensing technology[J]. The International Journal of Robotics Research, 1989, 8(3):3-30.
[6]白韶红.触觉传感器的发展.自动化仪表,1995, 15(6):1-5.
[7] Y. Shen, N. Xi, K. W. C. Lai, W. J. Li.A novel PVDF microforce/force rate sensor for practical applications in micromanipulation[J]. Sensor Review, 2004, 24 (3): 274-283.
[8]刘少强,黄惟一,王爱民等.机器人触觉传感技术的历史现状与趋势[J].机器人,2002,24(4).
[9]刘颖.触觉传感器阵列信息获取与分析处理:[硕士学位论文][D],重庆大学光电学院,2007.
[10]王东升.基于导电橡胶的触觉传感阵列及其标定试验研究:[硕士学位论文][D],重庆大学光电学院,2009.
[11] Kang Ryeol Lee, Kunnyun Kim, Yong-Kook Kim. Fabrication of polymer-based flexible tactile sensing.module with metal strain gauges and interconnecter[C]. Sensors, 2006,5th IEEE Conference,2006:742-745.
[12] H. K. Lee, S.I. Chang ,E.Yoon. A modular expandable tactile sensor using flexible polymer[C]. Proc. 18th Int. Conf. Micro Electro Mech. Syst., 2005: 642–645.
[13] O. Kerpa, K. Weiss, H. Worn.Development of a flexible tactile sensor system for a humanoid robot[C]. Proc. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), 2003: 1-6.
[14] Takao Someya,Tsuyoshi Sekitani,Shingo Iba.A large-area, flexible pressure sensor matrix with organic field-effect transistors for artificial skin applications[C]. Proceedings of the National Academy of Sciences’04, 2004, pp. 9966-9970.
[15] Yasuharu YAMADA, Akio ISHIGURO, Yoshiki UCHIKAWA. A method of 3D object reconstruction by fusing vision with touch using internal models with global and local deformations[C]. Roc. IEEE Int. Conf. on Robotics and Automation, 1993:782-787.
[16]罗志增,叶明.基于Bayes方法的多感觉信息融合算法及其应用[J].传感技术学报, 2001,14(3): 210-215.
[17]赵春霞,盛安冬,杨静宇等.虚拟触觉传感器的仿真模型研究[J].机器人,2000,22(4):260-263.
[18] T. V. Papakostas, J. Lima, M. Lowe.A large area force sensor for smart skin applications[C]. Proceedings of IEEE Sensors, 2002: 1620-1624.
[19] A.Dittmar, A.Lymeris.Smart clothes and associated wearable devices for biomedical ambulatory monitoring[C].Transducers’05, 2005:221-227.
[20] J. Engel, J. Chen, C. Liu.Development of polyimide flexible tactile sensor skin[J] .J. Micromech. Microeng., 2003,(13): 359–366.
[21] R.Andrew Russell.Compliant-skin tactile sensor.IEEE,1987:1645-1648.
[22]李鸿强,于晓刚等.光纤布拉格光栅人体测温的关键问题研究[J].光学学报,2009(29):208-209.
[23] Pan Zengxi ,Cui Hongliang ,and Zhu Zhenqi. A Flexible Full Body Tactile Sensor of Low Cost and Minimal Connections[J].IEEE ,2003.
[24]秦岚等.智能机器人的触觉传感服装:ZL200510057311.2[P].2009-10-21.
[25]秦岚,李青,孙先逵.一种新型智能机器人触觉传感服装的研究[J].传感技术学报.2006(19):824-826
[26]常晓丽,付巍.机器人触觉传感器的力学分析与研究[J].机械工程与自动化,2004,(2):20-22.
[27]施涌潮,梁福平,牛春晖著传感器检测技术[M].北京:国防工业出版社,2007.
[28]林盛,刘巍,王永青等.六维大力传感器测量原理研究[J].大连理工大学学,2010,50(4):522-523.
[29]董艳茹.机器人触觉传感器的分析与研究: [硕士学位论文][D],燕山大学,2010.
[30]倪星元,张志华.传感器敏感功能材料及应用(第一版)[M].北京:化学工业出版社,2005:1-14.
[31]王有道等.炭黑填充导电丁腈橡胶研究[J].特种橡胶制品,1994,15(1):7-9.
[32]吴石山,张军等.导电硅橡胶的研究.橡胶工业,1998,Vol.45(11): 669-671.
[33]赵志正.电性能稳定的导电橡胶[J],世界橡胶工业,2004,31(3):45-46.
[34]焦冬生等.乙炔炭黑填充导电硅橡胶的研究[J].材料工程,2007,(10):12-13.
[35]马晓兵等.导电橡胶电阻率稳定性研究[J].橡胶工业,1995,42:650-654.
[36] A. Okada, Y. Makino, H. Shinoda.Cell Bridge:A signal transmission element for constructing high density sensor networks[C] Proc. of 2nd International Workshop on Networked Sensing Systems (INSS 2005), 2005: 180-185.
[37] LUMELSKY V J, SHUR M S , WAGNER S. Sensitive skin[J].IEEE Sensors Journal, 2001,1(1): 41-51.
[38]张庆,蒋洪明,周亮.一种基于阵列式触觉传感器的主动触觉搜索方法及仿真[J].机器人,1994,16(2):82-86.
[39] R. Kageyama, S. Kagami, M. Inaba, and H. Inoue.Development of soft and distributed tactile sensors and the application to a humanoid robot[C]. Proceedings of IEEE International Conference on Systems, Man, and Cybernetics ,1999: 981-986.
[40]罗志增,张启忠,何发昌.机器人压阻阵列触觉数据采样的研究[J].传感器技术,1997, 16(5): 29-34.
[41] Luo Zhizeng , Xi Xugang ,Jia Yutao. Sampling of tactile sensor array using a thick-film circuit[C].Proceedings of the IEEE International Conference on Mechatronics & Automation,2005.pp:1976-1980.
[42] S. Han, Z. Y. Tan, K. Sato ,M. Shikida.Thermal characterization of micro heater arrays on a polyimide film substrate for fingerprint sensing applications[J].Micromech. Microeng., 2005,15: 282-289.
[43] A. Okada, Y. Makino, H. Shinoda.Cell-bridge-based connection method of high density sensor elements[C]. Proc. of 22nd Sensor Symposium, 2005: 425-428.
[44]王莹莹,汪东,晁阳. Protel DXP电路设计实例教程[M] .北京:清华大学出版社,2008.
[45] M.Shimojo, T Suzuki, A. Namiki.Development of a system for experiencing tactile sensation from a robot hand by electrically stimulating sensory nerve fiber[C]. Proceedings of the IEEE International Conference on Robotics & Automation, 2003: 1264-1270.
[46]张正勇,孔德义,梅涛等.一种柔性三维力触觉传感器阵列的实现方法[J].传感技术学报,2007,20(11):2382-2385.
[47]侯国屏,王坤,叶齐鑫.LabVIEW7.1编程与虚拟仪器设计[M].清华大学出版社,2005:196-199.
[48]郭兵.智能机器人传感服装与数据处理研究:[博士学位论文][D],重庆大学,光电学院,2010.
[49]李青.基于导电橡胶的智能机器人触觉传感服装研究:[硕士学位论文][D],重庆大学,光电学院,2006.
[2]谢涛,徐建峰,张永学等.仿人机器人的研究历史、现状及展望[J].机器人,2002,24(4):367-374.
[3]戈瑜.机器人传感器的研究与发展[J].高技术通讯,1997,(2):1-5.
[4]李二超,李战明,李炜.基于视觉的机器人灰色预测模糊力控制研究[J].中国机械工程,2010,21(17):2106-2108.
[5] H. R. Nicholls, M. H. Lee.A survey of robot tactile sensing technology[J]. The International Journal of Robotics Research, 1989, 8(3):3-30.
[6]白韶红.触觉传感器的发展.自动化仪表,1995, 15(6):1-5.
[7] Y. Shen, N. Xi, K. W. C. Lai, W. J. Li.A novel PVDF microforce/force rate sensor for practical applications in micromanipulation[J]. Sensor Review, 2004, 24 (3): 274-283.
[8]刘少强,黄惟一,王爱民等.机器人触觉传感技术的历史现状与趋势[J].机器人,2002,24(4).
[9]刘颖.触觉传感器阵列信息获取与分析处理:[硕士学位论文][D],重庆大学光电学院,2007.
[10]王东升.基于导电橡胶的触觉传感阵列及其标定试验研究:[硕士学位论文][D],重庆大学光电学院,2009.
[11] Kang Ryeol Lee, Kunnyun Kim, Yong-Kook Kim. Fabrication of polymer-based flexible tactile sensing.module with metal strain gauges and interconnecter[C]. Sensors, 2006,5th IEEE Conference,2006:742-745.
[12] H. K. Lee, S.I. Chang ,E.Yoon. A modular expandable tactile sensor using flexible polymer[C]. Proc. 18th Int. Conf. Micro Electro Mech. Syst., 2005: 642–645.
[13] O. Kerpa, K. Weiss, H. Worn.Development of a flexible tactile sensor system for a humanoid robot[C]. Proc. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), 2003: 1-6.
[14] Takao Someya,Tsuyoshi Sekitani,Shingo Iba.A large-area, flexible pressure sensor matrix with organic field-effect transistors for artificial skin applications[C]. Proceedings of the National Academy of Sciences’04, 2004, pp. 9966-9970.
[15] Yasuharu YAMADA, Akio ISHIGURO, Yoshiki UCHIKAWA. A method of 3D object reconstruction by fusing vision with touch using internal models with global and local deformations[C]. Roc. IEEE Int. Conf. on Robotics and Automation, 1993:782-787.
[16]罗志增,叶明.基于Bayes方法的多感觉信息融合算法及其应用[J].传感技术学报, 2001,14(3): 210-215.
[17]赵春霞,盛安冬,杨静宇等.虚拟触觉传感器的仿真模型研究[J].机器人,2000,22(4):260-263.
[18] T. V. Papakostas, J. Lima, M. Lowe.A large area force sensor for smart skin applications[C]. Proceedings of IEEE Sensors, 2002: 1620-1624.
[19] A.Dittmar, A.Lymeris.Smart clothes and associated wearable devices for biomedical ambulatory monitoring[C].Transducers’05, 2005:221-227.
[20] J. Engel, J. Chen, C. Liu.Development of polyimide flexible tactile sensor skin[J] .J. Micromech. Microeng., 2003,(13): 359–366.
[21] R.Andrew Russell.Compliant-skin tactile sensor.IEEE,1987:1645-1648.
[22]李鸿强,于晓刚等.光纤布拉格光栅人体测温的关键问题研究[J].光学学报,2009(29):208-209.
[23] Pan Zengxi ,Cui Hongliang ,and Zhu Zhenqi. A Flexible Full Body Tactile Sensor of Low Cost and Minimal Connections[J].IEEE ,2003.
[24]秦岚等.智能机器人的触觉传感服装:ZL200510057311.2[P].2009-10-21.
[25]秦岚,李青,孙先逵.一种新型智能机器人触觉传感服装的研究[J].传感技术学报.2006(19):824-826
[26]常晓丽,付巍.机器人触觉传感器的力学分析与研究[J].机械工程与自动化,2004,(2):20-22.
[27]施涌潮,梁福平,牛春晖著传感器检测技术[M].北京:国防工业出版社,2007.
[28]林盛,刘巍,王永青等.六维大力传感器测量原理研究[J].大连理工大学学,2010,50(4):522-523.
[29]董艳茹.机器人触觉传感器的分析与研究: [硕士学位论文][D],燕山大学,2010.
[30]倪星元,张志华.传感器敏感功能材料及应用(第一版)[M].北京:化学工业出版社,2005:1-14.
[31]王有道等.炭黑填充导电丁腈橡胶研究[J].特种橡胶制品,1994,15(1):7-9.
[32]吴石山,张军等.导电硅橡胶的研究.橡胶工业,1998,Vol.45(11): 669-671.
[33]赵志正.电性能稳定的导电橡胶[J],世界橡胶工业,2004,31(3):45-46.
[34]焦冬生等.乙炔炭黑填充导电硅橡胶的研究[J].材料工程,2007,(10):12-13.
[35]马晓兵等.导电橡胶电阻率稳定性研究[J].橡胶工业,1995,42:650-654.
[36] A. Okada, Y. Makino, H. Shinoda.Cell Bridge:A signal transmission element for constructing high density sensor networks[C] Proc. of 2nd International Workshop on Networked Sensing Systems (INSS 2005), 2005: 180-185.
[37] LUMELSKY V J, SHUR M S , WAGNER S. Sensitive skin[J].IEEE Sensors Journal, 2001,1(1): 41-51.
[38]张庆,蒋洪明,周亮.一种基于阵列式触觉传感器的主动触觉搜索方法及仿真[J].机器人,1994,16(2):82-86.
[39] R. Kageyama, S. Kagami, M. Inaba, and H. Inoue.Development of soft and distributed tactile sensors and the application to a humanoid robot[C]. Proceedings of IEEE International Conference on Systems, Man, and Cybernetics ,1999: 981-986.
[40]罗志增,张启忠,何发昌.机器人压阻阵列触觉数据采样的研究[J].传感器技术,1997, 16(5): 29-34.
[41] Luo Zhizeng , Xi Xugang ,Jia Yutao. Sampling of tactile sensor array using a thick-film circuit[C].Proceedings of the IEEE International Conference on Mechatronics & Automation,2005.pp:1976-1980.
[42] S. Han, Z. Y. Tan, K. Sato ,M. Shikida.Thermal characterization of micro heater arrays on a polyimide film substrate for fingerprint sensing applications[J].Micromech. Microeng., 2005,15: 282-289.
[43] A. Okada, Y. Makino, H. Shinoda.Cell-bridge-based connection method of high density sensor elements[C]. Proc. of 22nd Sensor Symposium, 2005: 425-428.
[44]王莹莹,汪东,晁阳. Protel DXP电路设计实例教程[M] .北京:清华大学出版社,2008.
[45] M.Shimojo, T Suzuki, A. Namiki.Development of a system for experiencing tactile sensation from a robot hand by electrically stimulating sensory nerve fiber[C]. Proceedings of the IEEE International Conference on Robotics & Automation, 2003: 1264-1270.
[46]张正勇,孔德义,梅涛等.一种柔性三维力触觉传感器阵列的实现方法[J].传感技术学报,2007,20(11):2382-2385.
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