王中林院士:摩擦纳米发电机用于指关节屈伸运动的量化传感
作者:Xianjie Pu, Hengyu Guo, Qian Tang, Jie Chen, Li Feng, Guanlin Liu, Xue Wang, Yi Xi, Chenguo Hu, Zhong Lin Wang
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2018-11-10 22:41:38
近日,重庆大学的胡陈果教授、中国科学院北京纳米能源与系统研究所的王中林院士发表了采用摩擦纳米发电技术设计的关节旋转量化传感器(joint motion triboelectric quantization sensor, jmTQS),采用复合栅格滑动模式产生正/负脉冲分别代表手指屈/伸过程,通过对单位时间内产生的脉冲计数来量化手指屈伸的角度及速度,并以此为基础构建了人手-机械手的同步控制系统。该研究的亮点为利用摩擦纳米发电机结构的灵活设计产生正/负脉冲实现对手指屈/伸角度、速度和方向的直接量化,由于手指的任一弯曲角度均对应一个绝对数值,因此基于该传感器的机械手同步控制系统可以在运动过程中从任意断点恢复操作而无需回到起始位置。
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Rotation sensing and gesture control of a robot joint via triboelectric quantization sensor
作者:Xianjie Pu, Hengyu Guo, Qian Tang, Jie Chen, Li Feng, Guanlin Liu, Xue Wang, Yi Xi, Chenguo Hu, Zhong Lin Wang
●
2018-11-10 22:41:38
导语
In human-machine interaction, robotic hands are expected to work like human's hands and to be even more powerful or delicate in certain situations. To operate robotic hands via human gesture instead of handle or button will make this human-robot interface more natural and precise. Here, we designed a joint motion triboelectric quantization sensor (jmTQS) for constructing a robotic hand synchronous control system. Based on the ultrahigh sensitivity of a triboelectric nanogenerator (TENG) to mechanical displacement, the jmTQS designed as grating-sliding mode realized directly quantifying a joint's flexion-extension degree/speed. Through counting the pulses induced by jmTQS and signing the positive/negative of the pulses to represent flexion/extension, the joint's angular position can be determined with absolute value on the basis of the initial human-robotic synchronizing position value. In the whole operating course, the intuitionistic human-robotic hand two-dimensional motion mapping can be preserved. The minimum resolution angle of the fabricated jmTQSs is 3.8° and can be further improved by decreasing the grating width. This direct quantization and intuitionistic mapping at the sensing stage greatly simplified the signal processing and classification algorithms, which contributes to achieving the natural, high-precision and real-time interface.
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