Rotation sensing and gesture control of a robot joint via triboelectric quantization sensor

By Xianjie Pu, Hengyu Guo, Qian Tang, Jie Chen, Li Feng, Guanlin Liu, Xue Wang, Yi Xi, Chenguo Hu, Zhong Lin Wang. Nano Energy, 2018

228 citations recorded by the source corpus.

Abstract In human-machine interaction, robotic hands are expected to work like human's hands and to be even more powerful or delicate in certain situations. To operate robotic hands via human gesture instead of handle or button will make this human-robot interface more natural and precise. Here, we designed a joint motion triboelectric quantization sensor (jmTQS) for constructing a robotic hand synchronous control system. Based on the ultrahigh sensitivity of a triboelectric nanogenerator (TENG) to mechanical displacement, the jmTQS designed as grating-sliding mode realized directly quantifying a joint's flexion-extension degree/speed. Through counting the pulses induced by jmTQS and signing the positive/negative of the pulses to represent flexion/extension, the joint's angular position can be determined with absolute value on the basis of the initial human-robotic synchronizing position value. In the whole operating course, the intuitionistic human-robotic hand two-dimensional motion mapping can be preserved. The minimum resolution angle of the fabricated jmTQSs is 3.8° and can be further improved by decreasing the grating width. This direct quantization and intuitionistic mapping at the sensing stage greatly simplified the signal processing and classification algorithms, which contributes to achieving the natural, high-precision and real-time interface.

Subfields: Biomedical Engineering, Polymers and Plastics

View Paper: https://www.semanticscholar.org/paper/eb48fbda941b2e28c80d4dae07c4eeb082cf2a6a

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Biomedical Engineering

1. Chengkuo Lee
2. Xinge Guo
3. Long Liu
4. Tianyiyi He
5. Feng Wen
6. Zixuan Zhang
7. Qiongfeng Shi
8. Zhongda Sun

In Polymers and Plastics

1. Chengkuo Lee
2. Xinge Guo
3. Long Liu
4. Tianyiyi He
5. Zixuan Zhang
6. Qiongfeng Shi
7. Feng Wen
8. Philippe Vachon

Citations in the corpus

• Progress in TENG technology—A journey from energy harvesting to nanoenergy and nanosystem (2020, methodology): “Copyright 2019, Elsevier.233 G, in vivo powering of the pacemaker by respiration-driven implanted TENG.”
• Progress in wearable electronics/photonics—Moving toward the era of artificial intelligence and internet of things (2020, methodology): “244 Besides, this pulse-counting detection approach also shows a better stability compared with the output-amplitude detection approach used by other TENG sensors, thus demonstrating the possibility of continuous sensing using TENG based finger sensors.”
• Design, manufacturing and applications of wearable triboelectric nanogenerators (2021, unknown): “7A shows the design of a joint motion triboelectric quantization sensor (jmTQS) for constructing a robotic hand synchronous control system [156].”
• Haptic-feedback smart glove as a creative human-machine interface (HMI) for virtual/augmented reality applications (2020, background): “The reported devices usually used two external materials to conduct either the contact and separation of the arch-shaped structure ( 36 ) or the sliding of grating patterned strips ( 23 ).”