Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study

doi:10.1109/TIM.2022.3147904

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study
	Gui, Mei-Jiang 1,5; Zhou, Xiao-Hu 1,5; Xie, Xiao-Liang 1,5; Liu, Shi-Qi 1,5; Li, Hao 1,5; Xiang, Tian-Yu 1,5; Wang, Jin-Li 4; Hou, Zeng-Guang 1,2,3,5
刊名	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
	2022
卷号	71 页码:11
关键词	Soft magnetic materials Skin Magnetic analysis Magnetoelasticity Magnetic levitation Force Magnetic hysteresis Analytical magnetic calculation deformation experiments finite element simulation Halbach cylinder tactile perception
ISSN号	0018-9456
DOI	10.1109/TIM.2022.3147904
通讯作者	Zhou, Xiao-Hu(xiaohu.zhou@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
英文摘要	Robotic tactile sensing plays a vital role in realizing the precise perception of complex environments, affecting the application of robots in a wide range of industrial and household fields. However, existing tactile sensors are limited by weakly interpretable information mapping relationships. In this article, a novel Halbach-cylinder-based magnetic skin is constructed with permanent magnets and elastic rubber to address such problems. Furthermore, a highly interpretable and widely applicable method is deduced to effectively represent the skin & x2019;s information conversion as a Halbach cylinder deforms to an elliptical cylinder under external force. Experiments of simulated models and actual skins with different compressions are conducted to evaluate the proposed method. The results show that 0.24 & x0025; and 0.26 & x0025; relative errors in simulated and real environments, respectively, can be achieved. Our method can reach the minimum error in almost all situations compared with state-of-the-art approaches. These promising results demonstrate the method & x2019;s great potential to provide a basis for developing a practical magnetic-force mapping relationship.
资助项目	National Natural Science Foundation of China[62003343] ; National Natural Science Foundation of China[U1913601] ; National Natural Science Foundation of China[62073325] ; National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[U20A20224] ; National Natural Science Foundation of China[U1913210] ; Youth Innovation Promotion Association of Chinese Academy of Sciences (CAS)[2020140] ; National Key Research and Development Program of China[2019YFB1311700] ; Strategic Priority Research Program of CAS[XDB32040000]
WOS关键词	TACTILE ; PERCEPTION ; MACHINE ; SOFT
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000766300200126
资助机构	National Natural Science Foundation of China ; Youth Innovation Promotion Association of Chinese Academy of Sciences (CAS) ; National Key Research and Development Program of China ; Strategic Priority Research Program of CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/48117]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Zhou, Xiao-Hu; Hou, Zeng-Guang
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Macau Univ Sci & Technol, Inst Syst Engn, Joint Lab Intelligence Sci & Technol, Taipa, Macao, Peoples R China 3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Beijing 100190, Peoples R China 4.China Univ Min & Technol, Sch Mech Elect & Informat Engn, Beijing 100083, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Gui, Mei-Jiang,Zhou, Xiao-Hu,Xie, Xiao-Liang,et al. Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2022,71:11.
APA	Gui, Mei-Jiang.,Zhou, Xiao-Hu.,Xie, Xiao-Liang.,Liu, Shi-Qi.,Li, Hao.,...&Hou, Zeng-Guang.(2022).Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,71,11.
MLA	Gui, Mei-Jiang,et al."Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 71(2022):11.