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首页> 外文会议>2018 IEEE International Conference on Soft Robotics >An any-resolution pressure localization scheme using a soft capacitive sensor skin
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An any-resolution pressure localization scheme using a soft capacitive sensor skin

机译：使用软电容传感器皮肤的任何分辨率的压力定位方案

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摘要

We present a method to determine the location of an applied pressure on a large-area, monolithic, silicone-based capacitive sensor. In contrast to pressure sensor arrays composed of n × n discrete sensors, we utilize a single sensor body with a single instrumentation interface to detect n pixels. We interrogate the capacitive sensor at different frequencies, thus modulating the effective length of the sensor. These interrogation frequencies are governed by the sensor's total capacitance and resistance, and the desired spatial resolution. We developed an analytical model to calculate the frequency response at different length segments of the sensor and used the results to determine the interrogation frequencies for experimental studies. We performed experimental tests on a 1 × n sensor strip and an n × n sensor sheet and showed greater than 90% accuracy in predicting the location of the applied pressure using a model generated by a multi-class kernel support vector machine. This approach towards distributed localization of point pressures greatly reduces the hardware complexity in comparison to discrete sensor arrays and increases the physical robustness of the system.
机译：我们提出一种确定大面积，整体式，基于硅树脂的电容式传感器上施加压力的位置的方法。与由n×n个离散传感器组成的压力传感器阵列相反，我们利用具有单个仪器接口的单个​​传感器主体来检测n个像素。我们以不同的频率询问电容式传感器，从而调制传感器的有效长度。这些询问频率取决于传感器的总电容和电阻以及所需的空间分辨率。我们开发了一个分析模型来计算传感器不同长度段的频率响应，并使用结果确定用于实验研究的询问频率。我们在1×n传感器条和n×n传感器板上进行了实验测试，结果表明，使用由多类内核支持向量机生成的模型预测施加压力的位置时，其准确性超过90％。与离散传感器阵列相比，这种针对点压力的分布式定位的方法大大降低了硬件复杂性，并提高了系统的物理鲁棒性。

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