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Research of Signal Acquisition and Processing System for Multi-dimensional Skin Sensors

Author: JuTao
Tutor: GeYunJian
School: University of Science and Technology of China
Course: Pattern Recognition and Intelligent Systems
Keywords: Tactile sensor Flexible Three-dimensional force Data acquisition Demarcate
CLC: TP212
Type: Master's thesis
Year: 2011
Downloads: 59
Quote: 0
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Abstract


As robotics technology advances, more and more important for the future development of intelligent robots developed can be used for the detection of multi-dimensional force flexible tactile sensor. Multi-dimensional flexible tactile sensor is a like human skin flexible, and can detect the surface of the multi-dimensional information of contact force sensor, which can help the robot through haptic perception and object recognition in order to complete a variety of relatively complex tasks. Recent years at home and abroad about the tactile sensor technology has made great progress, but to achieve the sensor has the flexibility and testing the functionality of the multidimensional force is still a need to address the problem at the same time. This paper is completed by the National Natural Science Foundation of China (No.: 60672024; No.: 61072032) and National High Technology Research and Development Program (863 Program) funded project (No.: 2007AA042220) of funding from. The topics for existing sensors is difficult to achieve at the same time has the flexibility and multi-dimensional force detection problem, and propose a flexible three-dimensional force tactile sensor based on pressure-sensitive conductive rubber and overall injection molding, this sensor break through the traditional \function. In this paper, a detection of three-dimensional force flexible tactile sensor, a set of signal acquisition and processing system for such a three-dimensional flexible tactile sensor. Static calibration of the acquisition system capable of real-time high-speed changes of multidimensional class skin sensor signal acquisition, and the acquisition of data transmitted to the host computer display as well as processing, designed for both the three-dimensional flexible tactile sensor system can be completed on the static characteristics of the sensor calibration . The main content of this paper is as follows: 1. Brief description of three-dimensional flexible tactile sensor design thinking, design a data acquisition system for the structural characteristics of the sensor. The design of the data acquisition system, including the choice of the device as well as various functional modules, such as hardware design, firmware development, design of data communications with the host computer and the host computer application design. 2 of the calibration of the three-dimensional flexible tactile sensor. Details of the three-dimensional force calibration steps of platform design and calibration experiments, discussed the basic methods of sensor calibration, and focuses on the calibration method using BP neural network.

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