公开(公告)号：US11016598B1

公开(公告)日：2021-05-25

申请号：US16768636

申请日：2018-05-23

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Mingxin Leng ,  Huijun Li ,  Hong Zeng ,  Baoguo Xu ,  Lifeng Zhu

IPC: G06F3/041 ,  G06F3/044 ,  G06F3/0354

Abstract: An artificial fingertip sliding tactile sensor includes a PVDF film, a rubber fingertip, a filling liquid, a sealing plug, a hydraulic sensor, a housing, an inner framework, and strain gauges. The rubber fingertip is a hemispherical cavity. The PVDF film is attached to the outside of the rubber fingertip. The sealing plug seals the rubber fingertip, and the hydraulic sensor is installed at the bottom of the sealing plug. The main body of the housing is a rigid cylindrical structure. The top of the housing is provided with a circular opening, and the bottom of the housing is a flange-like structure. Four circular through holes are uniformly distributed on the flange-like structure. The inner framework includes a cylindrical head, a vertical strain rod and a base. The strain gauges are respectively attached on four sides of the vertical strain rod and adjacent to the base.

公开(公告)号：US11680863B2

公开(公告)日：2023-06-20

申请号：US17288534

申请日：2020-07-01

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Shuyan Yang ,  Baoguo Xu ,  Huijun Li ,  Hong Zeng ,  Lifeng Zhu

IPC: G01L25/00 ,  G01L1/14 ,  G06F3/041 ,  G06F3/044 ,  G01L9/12

CPC classification number: G01L25/00 ,  G01L1/142 ,  G01L9/12 ,  G06F3/044 ,  G06F3/0418

Abstract: A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: step 1: calibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; step 2: averaging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; step 3: fitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; step 4: measurement; step 5: noise filtering; step 6: stroke direction discrimination; and step 7: resolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.