Soft Magnetic Skin's Deformation Analysis for Tactile Perception

doi:10.1109/TIE.2022.3232669

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

	Soft Magnetic Skin's Deformation Analysis for Tactile Perception
	Gui, Mei-Jiang 2,3; Zhou, Xiao-Hu 2,3; Xie, Xiao-Liang 2,3; Liu, Shi-Qi 2,3; Feng, Zhen-Qiu 2,3; Hou, Zeng-Guang 1,2,3,4
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2023-12-01
卷号	70 期号:12 页码:12883-12893
关键词	Soft magnetic skins deformations analy-sis dynamic Young's modulus (DYM) finite-element simu-lation tactile perception
ISSN号	0278-0046
DOI	10.1109/TIE.2022.3232669
通讯作者	Zhou, Xiao-Hu(xiaohu.zhou@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
英文摘要	Soft magnetic skins have been widely adopted for tactile perception due to their high accuracy and simple wiring advantages. However, the perceptual properties of magnetic skins are limited by information mapping relationships with weak interpretation. To overcome existing limitations, dynamic Young's modulus (DYM) is proposed in this article based on the strain energy density function to precisely describe the compression stiffness of magnetic skins. Furthermore, a highly interpretable and broadly applicable method is derived using DYM to analyze a cylindrical magnetic skin's deformation process as the skin deformed under external mechanic load. Extensive experiments in simulated and real situations with different deformations are carried out to verify the proposed method. Experimental results demonstrate that 0.14% and 0.43% relative errors in simulated and real environments, respectively, can be reached. Moreover, the proposed method can achieve minimum errors in almost all situations than data-driven or state-of-the-art analysis approaches. And the generality of the proposed method is validated by experiments conducted on skins with two different shapes. These promising results indicate the potential of the proposed method in establishing practical information mapping relationships for magnetic skins, probably addressing the significant challenges for magnetic skin application in complex scenarios.
资助项目	National Natural Science Foundation of China[62003343] ; National Natural Science Foundation of China[62222316] ; National Natural Science Foundation of China[U1913601] ; National Natural Science Foundation of China[62073325] ; National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[U20A20224] ; National Natural Science Foundation of China[U1913210] ; Beijing Natural Science Foundation[M22008] ; Youth Innovation Promotion Association of Chinese Academy of Sciences (CAS)[2020140] ; Strategic Priority Research Program of CAS[XDB32040000] ; Beijing Science and Technology Program[Z211100007921021]
WOS关键词	SENSOR
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001013415800096
资助机构	National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Youth Innovation Promotion Association of Chinese Academy of Sciences (CAS) ; Strategic Priority Research Program of CAS ; Beijing Science and Technology Program
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54122]
专题	多模态人工智能系统全国重点实验室
通讯作者	Zhou, Xiao-Hu; Hou, Zeng-Guang
作者单位	1.CAS Ctr Excellence Brain Sci & Intelligence Techno, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Macau Univ Sci & Technol, Inst Syst Engn, Joint Lab Intelligence Sci & Technol, Macau 999078, Peoples R China
推荐引用方式 GB/T 7714	Gui, Mei-Jiang,Zhou, Xiao-Hu,Xie, Xiao-Liang,et al. Soft Magnetic Skin's Deformation Analysis for Tactile Perception[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(12):12883-12893.
APA	Gui, Mei-Jiang,Zhou, Xiao-Hu,Xie, Xiao-Liang,Liu, Shi-Qi,Feng, Zhen-Qiu,&Hou, Zeng-Guang.(2023).Soft Magnetic Skin's Deformation Analysis for Tactile Perception.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(12),12883-12893.
MLA	Gui, Mei-Jiang,et al."Soft Magnetic Skin's Deformation Analysis for Tactile Perception".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.12(2023):12883-12893.