Highly efficient recognition of similar objects based on ionic robotic tactile sensors

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外文摘要：Tactile sensing provides robots the ability of object recognition,fine operation,natural interaction,etc.However,in the actual scenario,robotic tactile recognition of similar objects still faces difficulties such as low efficiency and accuracy,resulting from a lack of high-performance sensors and intelligent recog-nition algorithms.In this paper,a flexible sensor combining a pyramidal microstructure with a gradient conformal ionic gel coating was demonstrated,exhibiting excellent signal-to-noise ratio(48 dB),low detection limit(1 Pa),high sensitivity(92.96 kPa-1),fast response time(55 ms),and outstanding stability over 15,000 compression-release cycles.Furthermore,a Pressure-Slip Dual-Branch Convolutional Neural Network(PSNet)architecture was proposed to separately extract hardness and texture features and per-form feature fusion.In tactile experiments on different kinds of leaves,a recognition rate of 97.16％was achieved,and surpassed that of human hands recognition(72.5％).These researches showed the great potential in a broad application in bionic robots,intelligent prostheses,and precise human-computer interaction.

外文关键词：

Tactile recognitionConformal ionic gel coatingFlexible sensorsDual-branch convolutional neural network

作者：

Yongkang Kong、Guanyin Cheng、Mengqin Zhang、Yongting Zhao、Wujun Meng、Xin Tian、Bihao Sun、Fuping Yang、Dapeng Wei

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作者单位：

Chongqing Key Laboratory of Generic Technology and System of Service Robots,Chongqing Institute of Green and Intelligent Technology,Chinese Academy of Sciences,Chongqing 400714,China

School of Computer Science and Technology,Chongqing University of Posts and Telecommunications,Chongqing 400065,China

基金：

Open Project of the State Key Laboratory of Trauma and Chemical PoisoningKey R&D and Transformation of Science and Technology Projects in Tibet Autonomous RegionChongqing Talents ProgramProject of Chongqing Science and Technology BureauChongqing Bayu Scholar ProgramChongqing Entrepreneurship and Innovation Support Program for Overseas Students Returning to China

项目编号：

SKL202102XZ2022RH001CQYC2020030146cstc2021 ycjhbgzxm0345DP2020036

出版年：

2024

DOI：

10.1016/j.scib.2024.04.060

科学通报(英文版)

中国科学院

科学通报(英文版)

CSTPCD

ISSN：1001-6538

年,卷(期)：2024.69(13)