紧凑型基于LED的位移传感用于机器人手指
Compact LED-Based Displacement Sensing for Robot Fingers
AI总结：
本文提出了一种基于LED的紧凑型位移传感器，用于机器人手指，通过高灵敏度检测微小位移并实现低成本集成与高承载力。
摘要：
在本文中，我们介绍了一种用于集成到机器人手指中的传感器，它可以提供由于外部接触引起的位移信息。我们的传感器使用LED来感测由透明弹性体连接的两个板之间的位移；当施加力到手指时，弹性体位移，LED信号发生变化。我们证明在该情况下使用LED作为光源和接收器提供了高灵敏度，使这种发射器和接收器对能够检测非常小的位移。我们通过测试监督学习模型预测手指上施加的力和扭矩数据的能力来表征该传感器的独立性能，并在三个方向上获得平均误差在0.05至0.07 N之间。我们的方法允许在手指大小的包装中不使用放大电子设备，低成本制造，容易集成到完整的手中，并具有高过载剪切力和弯曲扭矩，表明未来可以应用于完整的操作任务。
英文摘要：
In this paper, we introduce a sensor designed for integration in robot fingers, where it can provide information on the displacements induced by external contact. Our sensor uses LEDs to sense the displacement between two plates connected by a transparent elastomer; when a force is applied to the finger, the elastomer displaces and the LED signals change. We show that using LEDs as both light emitters an receivers in this context provides high sensitivity, allowing such an emitter and receiver pairs to detect very small displacements. We characterize the standalone performance of the sensor by testing the ability of a supervised learning model to predict complete force and torque data from its raw signals, and obtain a mean error between 0.05 and 0.07 N across the three directions of force applied to the finger. Our method allows for finger-size packaging with no amplification electronics, low cost manufacturing, easy integration into a complete hand, and high overload shear forces and bending torques, suggesting future applicability to complete manipulation tasks.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
