液态金属柔性感知的人机交互软体机械手

doi:10.3969/j.issn.1004-132X.2021.12.011

中国机械工程 ›› 2021, Vol. 32 ›› Issue (12): 1470-1478.DOI: 10.3969/j.issn.1004-132X.2021.12.011

液态金属柔性感知的人机交互软体机械手

刘会聪1,2;杨梦柯1,2;袁鑫1,2;孙立宁1,2;金国庆1,2

1.苏州大学机电工程学院，苏州，215000
2.江苏省先进机器人技术重点实验室，苏州，215000

出版日期:2021-06-25 发布日期:2021-07-08
通讯作者: 金国庆（通信作者），男，1981年生，副教授。研究方向为软体机器人设计与制造、3D打印与数字化设计与制造。发表论文40余篇。E-mail:gqjin@suda.edu.cn。
作者简介:刘会聪，女，1982年生，教授、博士研究生导师。研究方向为智能感知与人机交互、柔性电子器件、微能源与自供能系统等。发表论文80余篇。E-mail:hcliu078@suda.edu.cn。

Liquid Metal Based Flexible Sensors for Soft Manipulator towards Human-Machine Interaction#br#

LIU Huicong1,2;YANG Mengke1,2;YUAN Xin1,2;SUN Lining1,2;JIN Guoqing1,2

1.School of Mechanical and Electrical Engineering,Soochow University,Suzhou,Jiangsu,215000
2.Jiangsu Provincial Laboratory of Advanced Robotics,Suzhou,Jiangsu,215000

Online:2021-06-25 Published:2021-07-08

摘要/Abstract

摘要： 利用3D打印技术制作了基于液态金属微流道的应变传感器和弯曲传感器，并将应变传感器集成至人体传感手套，用于人手的手势检测；将弯曲传感器集成至软体机械手，用作软体机械手的姿势及运动控制，通过传感手套控制软体机械手实现了人机交互。实验证明传感手套不仅能控制软体机械手的姿势，还能精确控制每根软体手指的弯曲程度。

关键词: 软体机械手, 液态金属, 柔性传感器, 人机交互

Abstract: Flexible strain and bending sensors based on liquid metal were designed by 3D printed micro-channel herein. Strain sensors were integrated into glove which was used to detect posture of human hands, and bending sensors were integrated into soft manipulator which was used to control posture of the soft manipulator. To realize soft manipulator with human-machine interaction, sensing glove with strain sensors and soft manipulator were combined. Experiments verify that the sensing glove may control the posture of the soft manipulator and the bending degree of each finger.

Key words: soft manipulator, liquid metal, flexible sensor, human-machine interaction

中图分类号:

TP24

刘会聪, 杨梦柯, 袁鑫, 孙立宁, 金国庆, . 液态金属柔性感知的人机交互软体机械手[J]. 中国机械工程, 2021, 32(12): 1470-1478.

LIU Huicong, YANG Mengke, YUAN Xin, SUN Lining, JIN Guoqing, . Liquid Metal Based Flexible Sensors for Soft Manipulator towards Human-Machine Interaction#br#[J]. China Mechanical Engineering, 2021, 32(12): 1470-1478.

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http://www.cmemo.org.cn/CN/Y2021/V32/I12/1470

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液态金属柔性感知的人机交互软体机械手

Liquid Metal Based Flexible Sensors for Soft Manipulator towards Human-Machine Interaction#br#

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