Magnetostrictive tactile sensor of detecting friction and normal force for object recognition. (8th July 2020)

• Record Type: Journal Article
• Authors: Zhang, Bing; Wang, Bowen; Li, Yunkai; Jin, Shaowei
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 4(2020:Jul./Aug.)
• Publication Date: 2020-07-08
• Subjects: Magnetostrictive -- tactile sensor -- features -- recognition -- extreme learning machine; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420932327
• Languages: English
• ISSNs: 1729-8806

Abstract

Tactile information is valuable in determining properties of objects that are inaccessible from visual perception. A new type of tangential friction and normal contact force magnetostrictive tactile sensor was developed based on the inverse magnetostrictive effect, and the force output model has been established. It can measure the exerted force in the range of 0–4 N, and it has a good response to the dynamic force in cycles of 0.25–0.5 s. We present a tactile perception strategy that a manipulator with tactile sensors in its grippers manipulates an object to measure a set of tactile features. It shows that tactile sensing system can use these features and the extreme learning machine algorithm to recognize household objects—purely from tactile sensing—from a small training set. The complex matrixes show the recognition rate is up to 83%.