OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes

doi:10.1109/TMECH.2023.3301572

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes
	Yu, Chen 1; Chen, Mingcong 5; Reyzabal, Mikel De Iturrate 1; Back, Junghwan 4; Cao, Danqian 1; Liu, Hongbin 1,2,3
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2023-08-14
页码	11
关键词	Bioinspired tactile sensing compound eyes deformation magnification soft material
ISSN号	1083-4435
DOI	10.1109/TMECH.2023.3301572
通讯作者	Liu, Hongbin(hongbin.liu@kcl.ac.uk)
英文摘要	Imitating the tactile sensory system of human and providing skin-like artificial sensing functions to robotic systems will enable them to interact with unstructured environment safely and efficiently. The vision-based method can achieve soft tactile sensing by the internal visual measurements and the conversion from deformation of an elastomer to haptic information. However, how to reduce the high requirements on both the pixel density of the images and the deformation quantity of the elastomer remains an open issue. Inspired by the compound eyes of the insects, a novel tactile sensing principle, the OMsense sensing principle, has been investigated. Arrays of lenses, acting as the facet lens in compound eyes, have been used for deformation magnification so that the required image pixels and the deformability of the elastomer can be significantly reduced. The contact shape and multiaxis force sensing relies on the soft silicone layer with designated pattern corresponding to the selected lenses. The OMsense has demonstrated high accuracy and low crosstalk in measuring all tactile information. Based on current sensor design, the resolution of normal force, shear force, and torque sensing was found to be 0.2N, 0.5 N, and 0.003N center dot m, respectively. In OMsense, small and high sample rate image sensors with thinner and stiffer soft sensing layer can be used, which is particularly suitable for miniaturized threedimensional structures.
资助项目	China Scholarship Council[201808060382] ; InnoHK Programme
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001051802500001
资助机构	China Scholarship Council ; InnoHK Programme
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54086]
专题	多模态人工智能系统全国重点实验室
通讯作者	Liu, Hongbin
作者单位	1.Kings Coll London, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England 2.Chinese Acad Sci, Hong Kong Inst Sci & Innovat, Ctr Artificial Intelligence & Robot, Hong Kong, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 4.Haptron Sci Shenzhen Co Ltd, Shenzhen 518100, Peoples R China 5.Chinese Acad Sci, Hong Kong Inst Sci & Innovat, Ctr Artificial Intelligence & Robot, Hong Kong, Peoples R China
推荐引用方式 GB/T 7714	Yu, Chen,Chen, Mingcong,Reyzabal, Mikel De Iturrate,et al. OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:11.
APA	Yu, Chen,Chen, Mingcong,Reyzabal, Mikel De Iturrate,Back, Junghwan,Cao, Danqian,&Liu, Hongbin.(2023).OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11.
MLA	Yu, Chen,et al."OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):11.