8 research outputs found
Π¦ΠΈΡΡΠΎΠ²ΡΠ΅ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΡΠ΅ ΡΠ΅Ρ Π½ΠΎΠ»ΠΎΠ³ΠΈΠΈ Π΄Π»Ρ ΠΎΡΠ΅Π½ΠΊΠΈ ΠΏΠΎΠΊΠ°Π·Π°ΡΠ΅Π»Π΅ΠΉ ΡΠ΅Π»ΡΡΠΊΠΎΡ ΠΎΠ·ΡΠΉΡΡΠ²Π΅Π½Π½ΠΎΠΉ ΡΠ΅Ρ Π½ΠΈΠΊΠΈ
When testing agricultural machinery in order to determine its functional indicators, the ability to wirelessly transmit data between sensors, measuring and information systems are important. (Research purpose) To develop methods and create wireless digital devices for determining the functional indicators of agricultural tractors and machines with the ability to wirelessly transmit data to a remote control point in real time. (Materials and methods) The authors assumed that it was possible to determine the slipping of driving wheels using an inertial navigation system. It was found that in order to calculate real-time indicators obtained using wireless technologies, it was necessary to determine the characteristics of the input signals of discrete sensors on the side of the measuring system. (Results and discussions) The authors substantiated a method for determining the period of incoming signals of discrete sensors with an accuracy of 0.001 seconds for wireless information transmission. They proposed the design of a slipping sensor for an energy vehicle driving wheels, the main element of which is an inertial wheel position sensor. They developed a discrete signal input module and an inertial slipping sensor with the possibility of wireless data transmission based on a radio system with a carrier frequency of 433 megahertz. During field tests, it was found that the accuracy of determining slippage using the inertial wireless sensor IP-291 does not exceed 1 percent; the range of stable radio communication from the tested object to the test control center reaches 1000 meters; the current indicators obtained through digital radio communication did not differ from the indicators obtained in the tractor cab. (Conclusions) The authors worked out an effective system for wireless information transfer with the ability to calculate the performance of the tested equipment in real time.ΠΡΠΈ ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½ΠΈΠΈ ΠΈΡΠΏΡΡΠ°Π½ΠΈΠΉ ΡΠ΅Π»ΡΡΠΊΠΎΡ
ΠΎΠ·ΡΠΉΡΡΠ²Π΅Π½Π½ΠΎΠΉ ΡΠ΅Ρ
Π½ΠΈΠΊΠΈ Ρ ΡΠ΅Π»ΡΡ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ Π΅Π΅ ΡΡΠ½ΠΊΡΠΈΠΎΠ½Π°Π»ΡΠ½ΡΡ
ΠΏΠΎΠΊΠ°Π·Π°ΡΠ΅Π»Π΅ΠΉ Π²Π°ΠΆΠ½ΠΎΠ΅ Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅ ΠΈΠΌΠ΅Π΅Ρ Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎΡΡΡ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ Π΄Π°Π½Π½ΡΡ
ΠΌΠ΅ΠΆΠ΄Ρ Π΄Π°ΡΡΠΈΠΊΠ°ΠΌΠΈ, ΠΈΠ·ΠΌΠ΅ΡΠΈΡΠ΅Π»ΡΠ½ΠΎΠΉ ΠΈ ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΠΎΠ½Π½ΠΎΠΉ ΡΠΈΡΡΠ΅ΠΌΠ°ΠΌΠΈ. (Π¦Π΅Π»Ρ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ) Π Π°Π·ΡΠ°Π±ΠΎΡΠ°ΡΡ ΠΌΠ΅ΡΠΎΠ΄Ρ ΠΈ ΡΠΎΠ·Π΄Π°ΡΡ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΡΠ΅ ΡΠΈΡΡΠΎΠ²ΡΠ΅ ΡΡΡΡΠΎΠΉΡΡΠ²Π° Π΄Π»Ρ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ ΡΡΠ½ΠΊΡΠΈΠΎΠ½Π°Π»ΡΠ½ΡΡ
ΠΏΠΎΠΊΠ°Π·Π°ΡΠ΅Π»Π΅ΠΉ ΡΠ΅Π»ΡΡΠΊΠΎΡ
ΠΎΠ·ΡΠΉΡΡΠ²Π΅Π½Π½ΡΡ
ΡΡΠ°ΠΊΡΠΎΡΠΎΠ² ΠΈ ΠΌΠ°ΡΠΈΠ½ Ρ Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎΡΡΡΡ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ Π΄Π°Π½Π½ΡΡ
Π½Π° ΡΠ΄Π°Π»Π΅Π½Π½ΡΠΉ ΠΏΡΠ½ΠΊΡ ΠΊΠΎΠ½ΡΡΠΎΠ»Ρ Π² ΡΠ΅ΠΆΠΈΠΌΠ΅ ΡΠ΅Π°Π»ΡΠ½ΠΎΠ³ΠΎ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ. (ΠΠ°ΡΠ΅ΡΠΈΠ°Π»Ρ ΠΈ ΠΌΠ΅ΡΠΎΠ΄Ρ) ΠΡΠ΅Π΄ΠΏΠΎΠ»ΠΎΠΆΠΈΠ»ΠΈ, ΡΡΠΎ ΠΎΠΏΡΠ΅Π΄Π΅Π»ΠΈΡΡ Π±ΡΠΊΡΠΎΠ²Π°Π½ΠΈΠ΅ Π²Π΅Π΄ΡΡΠΈΡ
ΠΊΠΎΠ»Π΅Ρ Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎ Ρ ΠΏΠΎΠΌΠΎΡΡΡ ΠΈΠ½Π΅ΡΡΠΈΠ°Π»ΡΠ½ΠΎΠΉ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΎΠ½Π½ΠΎΠΉ ΡΠΈΡΡΠ΅ΠΌΡ. Π£ΡΡΠ°Π½ΠΎΠ²ΠΈΠ»ΠΈ, ΡΡΠΎ Π΄Π»Ρ ΡΠ°ΡΡΠ΅ΡΠ° ΠΏΠΎΠΊΠ°Π·Π°ΡΠ΅Π»Π΅ΠΉ Π² ΡΠ΅Π°Π»ΡΠ½ΠΎΠΌ ΡΠ΅ΠΆΠΈΠΌΠ΅ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ, ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΡΡ
Ρ ΠΏΠΎΠΌΠΎΡΡΡ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΡΡ
ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΉ, Π½Π΅ΠΎΠ±Ρ
ΠΎΠ΄ΠΈΠΌΠΎ ΠΎΠΏΡΠ΅Π΄Π΅Π»ΠΈΡΡ Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊΠΈ Π²Ρ
ΠΎΠ΄ΡΡΠΈΡ
ΡΠΈΠ³Π½Π°Π»ΠΎΠ² Π΄ΠΈΡΠΊΡΠ΅ΡΠ½ΡΡ
Π΄Π°ΡΡΠΈΠΊΠΎΠ² Π½Π° ΡΡΠΎΡΠΎΠ½Π΅ ΠΈΠ·ΠΌΠ΅ΡΠΈΡΠ΅Π»ΡΠ½ΠΎΠΉ ΡΠΈΡΡΠ΅ΠΌΡ. (Π Π΅Π·ΡΠ»ΡΡΠ°ΡΡ ΠΈ ΠΎΠ±ΡΡΠΆΠ΄Π΅Π½ΠΈΠ΅) ΠΠ±ΠΎΡΠ½ΠΎΠ²Π°Π»ΠΈ ΠΌΠ΅ΡΠΎΠ΄ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ ΠΏΠ΅ΡΠΈΠΎΠ΄Π° Π²Ρ
ΠΎΠ΄ΡΡΠΈΡ
ΡΠΈΠ³Π½Π°Π»ΠΎΠ² Π΄ΠΈΡΠΊΡΠ΅ΡΠ½ΡΡ
Π΄Π°ΡΡΠΈΠΊΠΎΠ² Ρ ΡΠΎΡΠ½ΠΎΡΡΡΡ 0,001 ΡΠ΅ΠΊΡΠ½Π΄Ρ Π΄Π»Ρ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΠΈ. ΠΡΠ΅Π΄Π»ΠΎΠΆΠΈΠ»ΠΈ ΠΊΠΎΠ½ΡΡΡΡΠΊΡΠΈΡ Π΄Π°ΡΡΠΈΠΊΠ° Π±ΡΠΊΡΠΎΠ²Π°Π½ΠΈΡ Π²Π΅Π΄ΡΡΠΈΡ
ΠΊΠΎΠ»Π΅Ρ ΡΠ½Π΅ΡΠ³ΠΎΡΡΠ΅Π΄ΡΡΠ²Π°, ΠΎΡΠ½ΠΎΠ²Π½ΡΠΌ ΡΠ»Π΅ΠΌΠ΅Π½ΡΠΎΠΌ ΠΊΠΎΡΠΎΡΠΎΠ³ΠΎ ΡΠ²Π»ΡΠ΅ΡΡΡ ΠΈΠ½Π΅ΡΡΠΈΠ°Π»ΡΠ½ΡΠΉ Π΄Π°ΡΡΠΈΠΊ ΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΡ ΠΊΠΎΠ»Π΅ΡΠ°. Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π»ΠΈ ΠΌΠΎΠ΄ΡΠ»Ρ Π²Π²ΠΎΠ΄Π° Π΄ΠΈΡΠΊΡΠ΅ΡΠ½ΡΡ
ΡΠΈΠ³Π½Π°Π»ΠΎΠ² ΠΈ ΠΈΠ½Π΅ΡΡΠΈΠ°Π»ΡΠ½ΡΠΉ Π΄Π°ΡΡΠΈΠΊ Π±ΡΠΊΡΠΎΠ²Π°Π½ΠΈΡ Ρ Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎΡΡΡΡ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ Π΄Π°Π½Π½ΡΡ
Π½Π° Π±Π°Π·Π΅ ΡΠ°Π΄ΠΈΠΎΡΠΈΡΡΠ΅ΠΌΡ Ρ Π½Π΅ΡΡΡΠ΅ΠΉ ΡΠ°ΡΡΠΎΡΠΎΠΉ 433 ΠΌΠ΅Π³Π°Π³Π΅ΡΡ. Π Ρ
ΠΎΠ΄Π΅ ΠΏΠΎΠ»Π΅Π²ΡΡ
ΠΈΡΠΏΡΡΠ°Π½ΠΈΠΉ ΡΡΡΠ°Π½ΠΎΠ²ΠΈΠ»ΠΈ, ΡΡΠΎ ΡΠΎΡΠ½ΠΎΡΡΡ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ Π±ΡΠΊΡΠΎΠ²Π°Π½ΠΈΡ Ρ ΠΏΠΎΠΌΠΎΡΡΡ ΠΈΠ½Π΅ΡΡΠΈΠ°Π»ΡΠ½ΠΎΠ³ΠΎ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠ³ΠΎ Π΄Π°ΡΡΠΈΠΊΠ° ΠΠ-291 Π½Π΅ ΠΏΡΠ΅Π²ΡΡΠ°Π΅Ρ ΠΎΠ΄Π½ΠΎΠ³ΠΎ ΠΏΡΠΎΡΠ΅Π½ΡΠ°; Π΄Π°Π»ΡΠ½ΠΎΡΡΡ ΡΡΡΠΎΠΉΡΠΈΠ²ΠΎΠΉ ΡΠ°Π΄ΠΈΠΎΡΠ²ΡΠ·ΠΈ ΠΎΡ ΠΈΡΠΏΡΡΡΠ²Π°Π΅ΠΌΠΎΠ³ΠΎ ΠΎΠ±ΡΠ΅ΠΊΡΠ° Π΄ΠΎ ΠΏΡΠ½ΠΊΡΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΈ ΠΊΠΎΠ½ΡΡΠΎΠ»Ρ Π·Π° ΠΈΡΠΏΡΡΠ°Π½ΠΈΡΠΌΠΈ Π΄ΠΎΡΡΠΈΠ³Π°Π΅Ρ 1000 ΠΌΠ΅ΡΡΠΎΠ²; ΡΠ΅ΠΊΡΡΠΈΠ΅ ΠΏΠΎΠΊΠ°Π·Π°ΡΠ΅Π»ΠΈ, ΠΏΠΎΡΡΡΠΏΠΈΠ²ΡΠΈΠ΅ ΠΏΠΎΡΡΠ΅Π΄ΡΡΠ²ΠΎΠΌ ΡΠΈΡΡΠΎΠ²ΠΎΠΉ ΡΠ°Π΄ΠΈΠΎΡΠ²ΡΠ·ΠΈ, Π½Π΅ ΠΎΡΠ»ΠΈΡΠ°Π»ΠΈΡΡ ΠΎΡ Π΄Π°Π½Π½ΡΡ
, ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΡΡ
Π² ΠΊΠ°Π±ΠΈΠ½Π΅ ΡΡΠ°ΠΊΡΠΎΡΠ°. (ΠΡΠ²ΠΎΠ΄Ρ) Π‘ΠΎΠ·Π΄Π°Π»ΠΈ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΡΡ ΡΠΈΡΡΠ΅ΠΌΡ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΠΈ Ρ Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎΡΡΡΡ ΡΠ°ΡΡΠ΅ΡΠ° ΠΏΠΎΠΊΠ°Π·Π°ΡΠ΅Π»Π΅ΠΉ ΠΈΡΠΏΡΡΡΠ²Π°Π΅ΠΌΠΎΠΉ ΡΠ΅Ρ
Π½ΠΈΠΊΠΈ Π² ΡΠ΅ΠΆΠΈΠΌΠ΅ ΡΠ΅Π°Π»ΡΠ½ΠΎΠ³ΠΎ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ
A model-free approach to fingertip slip and disturbance detection for grasp stability inference
Robotic capacities in object manipulation are incomparable to those of
humans. Besides years of learning, humans rely heavily on the richness of
information from physical interaction with the environment. In particular,
tactile sensing is crucial in providing such rich feedback. Despite its
potential contributions to robotic manipulation, tactile sensing is less
exploited; mainly due to the complexity of the time series provided by tactile
sensors. In this work, we propose a method for assessing grasp stability using
tactile sensing. More specifically, we propose a methodology to extract
task-relevant features and design efficient classifiers to detect object
slippage with respect to individual fingertips. We compare two classification
models: support vector machine and logistic regression. We use highly sensitive
Uskin tactile sensors mounted on an Allegro hand to test and validate our
method. Our results demonstrate that the proposed method is effective in
slippage detection in an online fashion.Comment: IEEE International Conference on Development and Learning 2023
(ICDL), Nov 2023, Macau, Chin
Methods and Sensors for Slip Detection in Robotics: A Survey
The perception of slip is one of the distinctive abilities of human tactile sensing. The sense of touch allows recognizing a wide set of properties of a grasped object, such as shape, weight and dimension. Based on such properties, the applied force can be accordingly regulated avoiding slip of the grasped object. Despite the great importance of tactile sensing for humans, mechatronic hands (robotic manipulators, prosthetic hands etc.) are rarely endowed with tactile feedback. The necessity to grasp objects relying on robust slip prevention algorithms is not yet corresponded in existing artificial manipulators, which are relegated to structured environments then. Numerous approaches regarding the problem of slip detection and correction have been developed especially in the last decade, resorting to a number of sensor typologies. However, no impact on the industrial market has been achieved. This paper reviews the sensors and methods so far proposed for slip prevention in artificial tactile perception, starting from more classical techniques until the latest solutions tested on robotic systems. The strengths and weaknesses of each described technique are discussed, also in relation to the sensing technologies employed. The result is a summary exploring the whole state of art and providing a perspective towards the future research directions in the sector
Touching on elements for a non-invasive sensory feedback system for use in a prosthetic hand
Hand amputation results in the loss of motor and sensory functions, impacting activities of daily life and quality of life. Commercially available prosthetic hands restore the motor function but lack sensory feedback, which is crucial to receive information about the prosthesis state in real-time when interacting with the external environment. As a supplement to the missing sensory feedback, the amputee needs to rely on visual and audio cues to operate the prosthetic hand, which can be mentally demanding. This thesis revolves around finding potential solutions to contribute to an intuitive non-invasive sensory feedback system that could be cognitively less burdensome and enhance the sense of embodiment (the feeling that an artificial limb belongs to oneβs own body), increasing acceptance of wearing a prosthesis.A sensory feedback system contains sensors to detect signals applied to the prosthetics. The signals are encoded via signal processing to resemble the detected sensation delivered by actuators on the skin. There is a challenge in implementing commercial sensors in a prosthetic finger. Due to the prosthetic fingerβs curvature and the fact that some prosthetic hands use a covering rubber glove, the sensor response would be inaccurate. This thesis shows that a pneumatic touch sensor integrated into a rubber glove eliminates these errors. This sensor provides a consistent reading independent of the incident angle of stimulus, has a sensitivity of 0.82 kPa/N, a hysteresis error of 2.39Β±0.17%, and a linearity error of 2.95Β±0.40%.For intuitive tactile stimulation, it has been suggested that the feedback stimulus should be modality-matched with the intention to provide a sensation that can be easily associated with the real touch on the prosthetic hand, e.g., pressure on the prosthetic finger should provide pressure on the residual limb. A stimulus should also be spatially matched (e.g., position, size, and shape). Electrotactile stimulation has the ability to provide various sensations due to it having several adjustable parameters. Therefore, this type of stimulus is a good candidate for discrimination of textures. A microphone can detect texture-elicited vibrations to be processed, and by varying, e.g., the median frequency of the electrical stimulation, the signal can be presented on the skin. Participants in a study using electrotactile feedback showed a median accuracy of 85% in differentiating between four textures.During active exploration, electrotactile and vibrotactile feedback provide spatially matched modality stimulations, providing continuous feedback and providing a displaced sensation or a sensation dispatched on a larger area. Evaluating commonly used stimulation modalities using the Rubber Hand Illusion, modalities which resemble the intended sensation provide a more vivid illusion of ownership for the rubber hand.For a potentially more intuitive sensory feedback, the stimulation can be somatotopically matched, where the stimulus is experienced as being applied on a site corresponding to their missing hand. This is possible for amputees who experience referred sensation on their residual stump. However, not all amputees experience referred sensations. Nonetheless, after a structured training period, it is possible to learn to associate touch with specific fingers, and the effect persisted after two weeks. This effect was evaluated on participants with intact limbs, so it remains to evaluate this effect for amputees.In conclusion, this thesis proposes suggestions on sensory feedback systems that could be helpful in future prosthetic hands to (1) reduce their complexity and (2) enhance the sense of body ownership to enhance the overall sense of embodiment as an addition to an intuitive control system
Slippage detection with piezoresistive tactile sensors
One of the crucial actions to be performed during a grasping task is to avoid slippage. The human hand can rapidly correct applied forces and prevent a grasped object from falling, thanks to its advanced tactile sensing. The same capability is hard to reproduce in artificial systems, such as robotic or prosthetic hands, where sensory motor coordination for force and slippage control is very limited. In this paper, a novel algorithm for slippage detection is presented. Based on fast, easy-to-perform processing, the proposed algorithm generates an ON/OFF signal relating to the presence/absence of slippage. The method can be applied either on the raw output of a force sensor or to its calibrated force signal, and yields comparable results if applied to both normal or tangential components. A biomimetic fingertip that integrates piezoresistive MEMS sensors was employed for evaluating the method performance. Each sensor had four units, thus providing 16 mono-axial signals for the analysis. A mechatronic platform was used to produce relative movement between the finger and the test surfaces (tactile stimuli). Three surfaces with submillimetric periods were adopted for the method evaluation, and 10 experimental trials were performed per each surface. Results are illustrated in terms of slippage events detection and of latency between the slippage itself and its onset