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机械手、假上肢以及未来的矫正装置都需有较好的触觉传感系统,以便达到如下的三个重要的目的:1.物体表面的触觉探索、探子与摸索;2.物体的触觉处理;3.外形的感知。本文试图提供一种采用自动方法实现触觉导向探测和外形感知的初步结构系统。该系统可识别必要的传感器信启,包括该信息空间上与时间上的变化;用前馈与反馈两种方式的控制机构,实现系统的变速并构成感觉机械部分。这些特性,依次突出了未来的人造皮肤、触觉测定和处理系统设计中所需要的主要构成模块。这些构成模块包括:实时CNS机器,以实现必要的运算,变换与处理;传感器与处理器的阵列,以进行必要的操作及提取识别参数,处理所有触觉传感
Mechanical manipulators, artificial limbs, and future corrective devices require good tactile sensing systems to achieve the following three important goals: 1. Tactile exploration of the surface of the object, spying and exploration; 2. Tactile processing of objects; 3 Perception of the shape. This article attempts to provide a preliminary structural system that uses an automated method for tactile guidance detection and shape perception. The system can identify the necessary sensor information, including the spatial and temporal changes of the information. Using feedforward and feedback control mechanisms, the system realizes the speed change of the system and forms the mechanical part of the sensation. These features, in turn, highlight the major building blocks needed in the design of future artificial skin, haptics, and processing systems. These building blocks include real-time CNS machines to perform the necessary computations, transformations, and manipulations; an array of sensors and processors to perform the necessary operations and to extract recognition parameters to handle all tactile sensations