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学者姓名：崔晶
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摘要 ：
While 3-D tactile sensor arrays featuring traditional 3-D measurement structures have been extensively studied, their limited spatial resolution hinders their ability to perceive small objects during dexterous manipulation. Moreover, existing works on tactile super-resolution (SR) still suffer from lack of contour perception, mapping accuracy, and difficult access to SR datasets. Therefore, a prominent two-stage SR algorithm with digital-twin (DT)-driven enhancement is proposed for sensor arrays with classical 3-D measurement structures (C3DMS). First, based on the intrinsic features of C3DMS, the DT-driven observation of low-/high-resolution tactile sensor arrays is introduced for reliable and accurate tactile SR datasets. Second, a novel deconstructive interpolative upsampling (DIU) is then proposed for DT-driven enhancement and SR multiplier augmentation. Furtherly, an interpolation-convolution two-stage SR network is designed, where the DIU is proposed as the first-stage network to effectively and accurately increase the scale of tactile information, and a convolutional neural network with channel features learning is further constructed as the second stage for high-quality quadruple SR. Comprehensive experiments demonstrate the reliability of the DT dataset and the effectiveness of our approach, with the DT-trained network achieving quadruple SR (PSNR:31.12 and SSIM:0.965) for the self-made sensor, enabling clear recognition of complex Braille letters and higher positioning resolution (0.625 mm) for small objects (e.g., connector of RF antennas). Our SR tactile sensing framework realizes the assembly of RF antennas and holds promise for enhancing the dexterity of robotic manipulation.
关键词 ：
dexterous manipulation dexterous manipulation Spatial resolution Spatial resolution Accuracy Accuracy Sensors Sensors arrays arrays super-resolution (SR) super-resolution (SR) Sensor arrays Sensor arrays Electrodes Electrodes Superresolution Superresolution digital twin digital twin Tactile sensors Tactile sensors tactile sensor tactile sensor 3-D 3-D perception perception
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| GB/T 7714 | Hu, Zhikai , Chu, Zhongyi , Wang, Yijie et al. Two-Stage Super-Resolution for Classical 3-D Tactile Sensor Arrays With DT-Driven Enhancement [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
| MLA | Hu, Zhikai et al. "Two-Stage Super-Resolution for Classical 3-D Tactile Sensor Arrays With DT-Driven Enhancement" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73 (2024) . |
| APA | Hu, Zhikai , Chu, Zhongyi , Wang, Yijie , Cui, Jing . Two-Stage Super-Resolution for Classical 3-D Tactile Sensor Arrays With DT-Driven Enhancement . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
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摘要 ：
本发明公开一种仿壁虎微结构刚毛微观黏附状态检测装置及方法，涉及微结构接触状态检测技术领域，包括外部支撑单元，外部支撑单元上设有XY移动载物台，XY移动载物台上安装有加载单元，XY移动载物台能够带动加载单元沿X方向和Y方向水平移动，加载单元用于对仿壁虎微结构刚毛实施法向加载/卸载，加载单元下方设有倒置金相显微镜，倒置金相显微镜连接有上位机检测与控制端；倒置金相显微镜用于观测仿壁虎微结构刚毛与目标物的微观接触面积图像。基于本发明上述装置的检测方法，将仿壁虎微结构刚毛接触状态传统的宏观检测方式转换成微观检测方式，以金相显微镜为主体实现仿壁虎微结构刚毛接触状态全貌图像的观测与分析。
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| GB/T 7714 | 崔晶 , 靳曦 , 楚中毅 et al. 一种仿壁虎微结构刚毛微观黏附状态检测装置及方法 : CN202310224272.9[P]. | 2023-03-09 . |
| MLA | 崔晶 et al. "一种仿壁虎微结构刚毛微观黏附状态检测装置及方法" : CN202310224272.9. | 2023-03-09 . |
| APA | 崔晶 , 靳曦 , 楚中毅 , 张博伦 , 苏节江 . 一种仿壁虎微结构刚毛微观黏附状态检测装置及方法 : CN202310224272.9. | 2023-03-09 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
本发明公开一种六自由度触觉传感器，涉及传感器技术领域。本发明基于电容式传感器原理，包括由上至下依次设置的上层电路板、切向介质层、中间层电路板、法向介质层和下层电路板，通过将多维力检测设置在不同的检测层，降低了多维力间的解耦难度；本发明以多对交叉指状的电极结构为基础，通过对极板形状和分布进行新型设计，能够将实现多维力/力矩的高灵敏测量和维间高效解耦；基于这一结构设置，本发明能够实现传感器对六轴力高灵敏测量的同时，具有感应面积大、解耦效果好的特点。
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| GB/T 7714 | 崔晶 , 于辉 , 王易捷 et al. 一种六自由度触觉传感器 : CN202310641128.5[P]. | 2023-06-01 . |
| MLA | 崔晶 et al. "一种六自由度触觉传感器" : CN202310641128.5. | 2023-06-01 . |
| APA | 崔晶 , 于辉 , 王易捷 , 楚中毅 , 崔荣朋 . 一种六自由度触觉传感器 : CN202310641128.5. | 2023-06-01 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
本发明公开了一种基于正压驱动的仿生变刚度拾取器及驱动方法，涉及仿生干黏附机器人末端执行器技术领域，气动连接件与弹性膜囊连通，弹性膜囊内设置有若干固体颗粒，气动连接件用于连接气源装置，环状楔形刚毛束单元设置在弹性膜囊的底面。使用时，先向弹性膜囊内部通入正压使其膨胀，移动拾取器使底面环状楔形刚毛束单元与目标物体充分接触，然后撤去正压，环状楔形刚毛束单元在弹性恢复力作用下被拉弯实现加载，最后弹性膜囊内部抽至负压，由于固体颗粒阻塞弹性膜囊呈现高刚度，实现环状楔形刚毛束单元的稳定黏附。本发明能够提高机器人末端执行器对翘曲表面的适应性。
引用：
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| GB/T 7714 | 崔晶 , 张博伦 , 楚中毅 et al. 一种基于正压驱动的仿生变刚度拾取器及驱动方法 : CN202310220856.9[P]. | 2023-03-09 . |
| MLA | 崔晶 et al. "一种基于正压驱动的仿生变刚度拾取器及驱动方法" : CN202310220856.9. | 2023-03-09 . |
| APA | 崔晶 , 张博伦 , 楚中毅 , 刘慧敏 . 一种基于正压驱动的仿生变刚度拾取器及驱动方法 : CN202310220856.9. | 2023-03-09 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
本发明公开一种搬运机械手，包括拾取组件和缓冲组件，拾取组件包括拾取头和拾取刚毛，缓冲组件包括缓冲支杆和缓冲套筒。工作时，对驱动腔体抽气，使驱动腔体内的压力小于大气压时，驱动腔体向内收缩，变形部变形对拾取部施加作用力，拾取部环绕变形部设置，拾取部向拾取刚毛传递切向力，将拾取刚毛拉弯，从而产生法向黏附力将物体黏附，拾取刚毛能够与待搬运物品充分接触，提高拾取安全系数；缓冲支杆与拾取头相连，缓冲套筒能够与外部设备相连，外部设备带动搬运机械手到达待搬运物品处，缓冲套筒与缓冲支杆相配合能够弥补驱动腔体收缩变形的位移量，保证拾取刚毛与待搬运物品接触。同时，本发明还提供一种搬运系统，包含上述的搬运机械手。
引用：
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| GB/T 7714 | 崔晶 , 苏节江 , 楚中毅 et al. 一种搬运机械手和搬运系统 : CN202310222095.0[P]. | 2023-03-09 . |
| MLA | 崔晶 et al. "一种搬运机械手和搬运系统" : CN202310222095.0. | 2023-03-09 . |
| APA | 崔晶 , 苏节江 , 楚中毅 , 刘慧敏 , 靳曦 . 一种搬运机械手和搬运系统 : CN202310222095.0. | 2023-03-09 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
The microstructure design of the dielectric layer has been demonstrated to enhance the measurement performance of flexible pressure sensors. Nevertheless, current isotropic and anisotropic microstructures are incapable of overcoming the substantial rise in compressive stiffness accompanying increased pressure, leading to compromised performance and restricted linear measurement ranges. For the above problem, a design of the capacitive pressure sensor integrated with the anisotropic wedge microstructure (AWM)-based dielectric layer is proposed. First, utilizing the capacity of AWM to induce bending deformations, the capacitive pressure sensor integrated with the AWM-based dielectric layer is designed. Then, a novel electromechanical model considering AWMs' intrinsic relationship is proposed for the sensors and shows its capability for linear measurement. Furthermore, according to the model analysis, the capacitive pressure sensors integrated with AWMs-based dielectric layers are fabricated cost-effectively, and the accuracy of the linear electromechanical model is also experimentally verified. Finally, the experimental results demonstrate that the pressure sensor based on AWMs has a wide highly sensitive linear measurement range (0-20 kPa; R-2 = 99.96%), fast recovery time (33.8 ms), and excellent cycle stability (5000 cycles), which can make it promising for a wide range of applications in fields, such as wearable devices and flexible operation of robots.
关键词 ：
linear measurement linear measurement pressure sensors pressure sensors capacitive capacitive Anisotropic microstructure Anisotropic microstructure wedge microstructure wedge microstructure
引用：
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| GB/T 7714 | Hu, Zhikai , Chu, Zhongyi , Chen, Gen et al. Design of Capacitive Pressure Sensors Integrated With Anisotropic Wedge Microstructure-Based Dielectric Layer [J]. | IEEE SENSORS JOURNAL , 2023 , 23 (18) : 21040-21049 . |
| MLA | Hu, Zhikai et al. "Design of Capacitive Pressure Sensors Integrated With Anisotropic Wedge Microstructure-Based Dielectric Layer" . | IEEE SENSORS JOURNAL 23 . 18 (2023) : 21040-21049 . |
| APA | Hu, Zhikai , Chu, Zhongyi , Chen, Gen , Cui, Jing . Design of Capacitive Pressure Sensors Integrated With Anisotropic Wedge Microstructure-Based Dielectric Layer . | IEEE SENSORS JOURNAL , 2023 , 23 (18) , 21040-21049 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
Model-based compensators have been widely applied in force sensors with soft materials to eliminate viscoelasticity that causes creep output and slow dynamic response and limits the performance of the sensors. However, the lack of accurate characterization of high-order viscoelasticity and high computational complexity restricts the performance and application of existing methods. For the above problem, we propose a first-order Volterra gray box model-based viscoelastic compensator for force sensors with soft materials. First, the measurement mechanism of the soft-material-based force sensor is analyzed, and a gray box model for accurately characterizing the high-order linear viscoelasticity (LVE) by the first-order Volterra series is proposed, without needing high-order spring-damping parameters and their exponential operations. Then, the high-order viscoelasticity compensator is designed and directly linearly fit with the variation in the historical output, which avoids the computational complexity of the high-order creep compliance and its exponential parameters' fitting. Finally, the proposed method is verified with a self-developed soft-material-based capacitive force sensor. The real-time experimental results show that compared with existing methods, the proposed compensator not only has better compensation performance but also has a shorter calculation time for force sensors with soft materials.
关键词 ：
systems modeling systems modeling Compensation Compensation force sensors force sensors Force sensors Force sensors creep creep Creep Creep Stress Stress Strain Strain Sensors Sensors viscoelasticity viscoelasticity dynamics dynamics Computational modeling Computational modeling Load modeling Load modeling
引用：
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| GB/T 7714 | Hu, Zhikai , Wang, Yijie , Feng, Kaiming et al. A Viscoelastic Compensator for Force Sensors With Soft Materials [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2023 , 72 . |
| MLA | Hu, Zhikai et al. "A Viscoelastic Compensator for Force Sensors With Soft Materials" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 72 (2023) . |
| APA | Hu, Zhikai , Wang, Yijie , Feng, Kaiming , Chu, Zhongyi , Cui, Jing , Sun, Fuchun . A Viscoelastic Compensator for Force Sensors With Soft Materials . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2023 , 72 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
本发明公开了一种基于微位移加载形式的平面黏附机构，包括外框架、电磁铁、弹簧、导轨滑块以及粘结在滑块下方的楔形刚毛束，通过控制楔形刚毛切向微位移的距离对其进行加载。在电磁铁未通电时，铁板与电磁铁间存在微小间隙，此间隙视楔形刚毛横向具体尺寸可调，即为楔形刚毛束切向微位移距离。对电磁铁通电，铁板带动滑块向两侧移动，弹簧被拉伸同时螺钉离开限位块。楔形刚毛束与目标物接触后电磁铁断电，在复位弹簧的作用下使滑块向内运动直至螺钉碰到限位块，实现微位移高切向力加载，此时楔形刚毛束被充分拉弯，产生较大的法向黏附力从而实现对目标物的稳定黏附。采用微位移的加载方式使楔形刚毛束对不同平面都有适应性并且黏附稳定、成功率高。
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| GB/T 7714 | 崔晶 , 王佳奇 , 楚中毅 et al. 一种基于微位移加载楔形刚毛束的平面黏附机构 : CN202210123899.0[P]. | 2022-02-10 . |
| MLA | 崔晶 et al. "一种基于微位移加载楔形刚毛束的平面黏附机构" : CN202210123899.0. | 2022-02-10 . |
| APA | 崔晶 , 王佳奇 , 楚中毅 , 刘慧敏 . 一种基于微位移加载楔形刚毛束的平面黏附机构 : CN202210123899.0. | 2022-02-10 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
本发明公开一种拾取臂机构，包括刚性组件和柔性组件，刚性的主臂和调节臂不直接接触待拾取目标物体，主臂和调节臂能够牵引柔性组件，在柔性组件与待拾取目标物体接触并拾取物体的同时，刚性组件调节主臂与调节臂之间的角度，以保证柔性组件与目标拾取物体的充分接触，提高拾取臂机构在拾取以及后续搬运过程中柔性组件的工作稳定性。本发明还提供一种拾取装置，包括上述的拾取臂机构和驱动组件，主臂与驱动组件相连，柔性组件与机器人其他结构相连，驱动组件能够带动拾取臂机构运动，主臂与调节臂发生相对转动，以调整、张紧并支撑柔性基底，柔性组件能够适应异形待拾取目标物体，保证拾取臂机构的稳定拾取，降低拾取装置的控制难度。
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| GB/T 7714 | 崔晶 , 张博伦 , 楚中毅 et al. 一种拾取装置及拾取臂机构 : CN202210790484.9[P]. | 2022-07-05 . |
| MLA | 崔晶 et al. "一种拾取装置及拾取臂机构" : CN202210790484.9. | 2022-07-05 . |
| APA | 崔晶 , 张博伦 , 楚中毅 , 伍俊松 , 刘慧敏 . 一种拾取装置及拾取臂机构 : CN202210790484.9. | 2022-07-05 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
本发明公开一种基于楔形刚毛束的变刚度末端执行器，涉及软体末端执行器技术领域，包括楔形刚毛束单元、切向加载脱附单元、变刚度单元和外框单元；外框单元包括外框，外框的顶部用于连接外连机构；变刚度单元包括连接块和软袋，连接块连接有驱动装置，驱动装置安装于外框内，软袋安装于连接块上，软袋内填充有颗粒物；连接块上设置气管接头，气管接头与软袋连通，用于使软袋内产生负压；切向加载脱附单元包括拉伸弹簧，拉伸弹簧的一端与外框连接，另一端与连接块连接；楔形刚毛束单元包括楔形刚毛束，楔形刚毛束安装于软袋上，楔形刚毛束用于接触并粘附目标物。本发明增加楔形刚毛束的接触面积，实现对楔形刚毛束稳定的切向加载、卸载。
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| GB/T 7714 | 崔晶 , 李明昊 , 楚中毅 et al. 一种基于楔形刚毛束的变刚度末端执行器 : CN202110093097.5[P]. | 2021-01-25 . |
| MLA | 崔晶 et al. "一种基于楔形刚毛束的变刚度末端执行器" : CN202110093097.5. | 2021-01-25 . |
| APA | 崔晶 , 李明昊 , 楚中毅 , 王佳奇 , 刘慧敏 . 一种基于楔形刚毛束的变刚度末端执行器 : CN202110093097.5. | 2021-01-25 . |
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