A TRIBOELECTRIC TACTILE PERCEPTION RING FOR CONTINUUM ROBOT COLLISION-AWARE

被引：0

作者：

Sun, Yuyang ^{[1
]}

Li, Hanyang ^{[1
]}

Hou, Cheng ^{[1
]}

Shen, Wenjie ^{[1
]}

Liu, Huicong ^{[1
]}

Chen, Tao ^{[1
]}

Ren, Hongliang ^{[2
]}

Zuo, Xiuli ^{[3
]}

Li, Yanqing ^{[4
]}

机构：

[1] Soochow Univ, Sch Mech & Elect Engn, Jiangsu Prov Key Lab Adv Robot, Suzhou 215123, Peoples R China

[2] Natl Univ Singapore, Suzhou Res Inst, Suzhou 215125, Peoples R China

[3] Shandong Univ, Qilu Hosp, Dept Gastroenterol, Jinan 250012, Peoples R China

[4] Shandong Univ, Cheeloo Coll Med, Qilu Hosp, Dept Gastroenterol, Jinan 250012, Peoples R China

来源：

2021 21ST INTERNATIONAL CONFERENCE ON SOLID-STATE SENSORS, ACTUATORS AND MICROSYSTEMS (TRANSDUCERS) | 2021年

基金：

国家重点研发计划;

关键词：

Tactile perception; triboelectric sensor; continuum robot; collision-aware;

D O I：

10.1109/TRANSDUCERS50396.2021.9495744

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Continuum robots have significant advantages in terms of high dexterity level and adaptability, leading to potential applications in narrow space operation and minimally invasive surgery. Endowing the tactile perception to the continuum robots will make them aware of collision. Here, we propose a self-powered triboelectric tactile perception ring (TTPR) that can sense tiny collision pressure in 4 directions. Integrating TTPR into each joint of the continuum robot enables the robot to aware collision and adjust posture. The demonstration of obstacle avoidance and adaptive crawling reveals that the proposed TTPR has the potential of being a promising solution for collision-aware of continuum robot.

引用

页码：329 / 332

页数：4

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