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κ΄μ¬μ ν μΌμκ° λ΄μ₯λ λ‘λ΄ μ격 λ° λ¬΄μΈ μ‘°μμ μν λͺ¨λν λ‘λ΄ μ€ν¨
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Όλ¬Έ(μμ¬) -- μμΈλνκ΅λνμ : 곡과λν κΈ°κ³κ³΅νλΆ, 2021.8. λ°μ©λ.Robots have been used to replace human workers for dangerous and difficult tasks that require human-like dexterity. To perform sophisticated tasks, force and tactile sensing is one of the key requirements to achieve dexterous manipulation. Robots equipped with sensitive skin that can play a role of mechanoreception in animals will be able to perform tasks with high levels of dexterity. In this research, we propose modularized robotic skin that is capable of not only localizing external contacts but also estimating the magnitudes of the contact forces. In order to acquire three pieces of key information on a contact, such as contact locations in horizontal and vertical directions and the magnitude of the force, each skin module requires three degrees of freedom in sensing. In the proposed skin, force sensing is achieved by a custom-designed triangular beam structure. A force applied to the outer surface of the skin module is transmitted to the beam structure underneath, and bending of the beam is detected by fiber optic strain sensors, called fiber Bragg gratings. The proposed skin shows resolutions of 1.45 N for force estimation and 1.85 mm and 1.91 mm for contact localization in horizontal and vertical directions, respectively. We also demonstrate applications of the proposed skin for remote and autonomous operations of commercial robotic arms equipped with an array of the skin modules.λ‘λ΄μ μΈκ°κ³Ό κ°μ λμ μ‘°μμ±μ΄ νμν μ΄λ €μ΄ μμ
νκ²½μ΄λ μνν νκ²½μμ μΈκ°μ λ체ν μ μλλ‘ μ°κ΅¬λκ³ μλ€. μ΄λ₯Ό μν΄ λλ¬Όμ κΈ°κ³μ κ°μ(mechanoreception) μν κ³Ό κ°μ κΈ°λ₯μ μννλ©΄μ λ‘λ΄μ λΆμ°©λ μ μλ μ€ν¨μ μ°κ΅¬νκ³ μκ³ , λ―Όκ°ν λ‘λ΄ μ€ν¨μ΄ λΆμ°©λ λ‘λ΄μ λμ μμ€μ μ‘°μμ±μ κ°μ§κ³ μ£Όμ΄μ§ μμ
μ μ±κ³΅ν μ μλ€. λ€μ λ§ν΄ λ‘λ΄μ ν μΌμ±κ³Ό μ΄κ° μΌμ± κΈ°λ₯μ μ κ΅ν λ‘λ΄ μ‘°μμ ν΅μ¬ μμλ€ μ€ νλλ‘ λ‘λ΄μ μΈλ°ν μμ
λ€μ μννκΈ° νμλ‘ νλ€. λ°λΌμ μ°λ¦¬λ μ΄ μ°κ΅¬μμ μΈλΆ μ μ΄μ μμΉλΏλ§ μλλΌ μΈλ ₯μ ν¬κΈ°λ μΆμ ν μ μλ λͺ¨λνλ λ‘λ΄ μ€ν¨μ μ μνλ€. μ μ΄ νμ ν¬κΈ°, μ μ΄μ μμ§ λ° μν μμΉ λ± μ μ΄μ λν 3κ°μ§ μ 보λ₯Ό μ»κΈ° μν΄μ κ° μ€ν¨ λͺ¨λμ 3 μμ λλ₯Ό κ°μ§λλ‘ μ€κ³νμλ€. μ μν μ€ν¨μμ ν μΌμ±μ μλ‘κ² μ€κ³ν μΌκ°ν ννμ λΉ κ΅¬μ‘°μ λ³νμ ν΅ν΄μ μΈ‘μ νλ€. ꡬ체μ μΌλ‘ μ€ν¨ λͺ¨λμ μΈνΌμ κ°ν΄μ§ νμ λΉ κ΅¬μ‘°λ‘ μ λ¬λκ³ , μ΄λ‘ μΈν΄ λ°μνλ λΉ κ΅¬μ‘°μ λ³νμ βfiber Bragg gratingsβ μ΄λΌκ³ λΆλ¦¬λ κ΄μ¬μ μ€νΈλ μΈ μΌμλ€μ μν΄μ μΈ‘μ λλ€. μ μν μ€ν¨μ 1.45 Nμ ν μΆμ ν΄μλλ₯Ό κ°μ§κ³ , μν λ° μμ§ μμΉ μΆμ μ κ°κ° 1.85 mmμ 1.91 mmμ ν΄μλλ₯Ό κ°μ§λ€. μ°λ¦¬λ μμ©νλ λ‘λ΄νμ μ¬λ¬ κ°μ μ€ν¨ λͺ¨λμ λ°°μ΄ λ° λΆμ°©νμ¬ λ‘λ΄μ μ격 μ‘°μ λ° λ¬΄μΈ μ‘°μμ μ€ννμκ³ , μ€ν¨μ νμ©μ±μ κ²μ¦νμλ€.1. Introduction 1
2. Design 7
2.1. Skin Module .
2.2. Skin Array .
3. Modeling 12
3.1. FBG Sensing Principle and Temperature Compensation 25
3.2. Estimation of Beam Force and Deflection .
3.3. Estimation of Spring Force .
3.4. Estimation of Contact Locations and Force .
4. Experiments 25
4.1. Experimental Setup .
4.2. Initialization .
4.3. Parameter Optimization .
4.4. Result .
5. Application 32
5.1. Remote Robot Manipulation .
5.2. Autonomous Robot Control .
6. Discussion 46
7. Conclusion 48
8. Appendix 49
8.1. Beam Deflection .
Bibliography 52
Abstract in Korean 60μ