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《Chinese Journal of Sensors and Actuators》 2018-06
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Research on a Novel Flexible 3-Axis Tactile Sensor and Slip Recognition Algorithm

MAO Leidong;HUANG Ying;GUO Xiaohui;ZHANG Yangyang;LIU Ping;School of Electronic Science and Applied Physics,Hefei University of Technology;  
Aimed at the requirement of 3-axis force perception and slip recognition for intelligent robot skin during soft grasping,a flexible 3-axial tactile sensor,fabricated by carbon( CB),graphene nanoplatelets( GNPs) and silicone rubber( SR) was proposed. Finite element method( FEM) had been employed to explain the operation principle and to optimize the characteristic parameters of the proposed sensor. Based on the proposed sensor,a designed algorithm fused withdiscrete wavelet transform( DWT),phase space reconstruction( PSR) and support vector machine( SVM) is utilized to realize recognition of slipping state. The flexible sensor and the fusion algorithm could have promising application in recognition of slipping state during the robot grasp task.
【Fund】: 国家自然科学基金项目(61471155);国家自然科学基金面上项目(61673369)
【CateGory Index】: TP212;TP242
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