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    • 2. 发明授权
    • Tactile sensing method and system
    • 触觉感应方法和系统
    • US06990435B2
    • 2006-01-24
    • US10674538
    • 2003-10-01
    • Makoto KanekoRyuta Horie
    • Makoto KanekoRyuta Horie
    • H04B15/00
    • G01L5/228G01L1/205G01L1/2256G01L5/009
    • A system for detecting tactile information includes strain-gauge touch sensors and a controller. Based on the sum output from each of tough-sensor sensor units, an analyzer in the controller calculates touch force Fi(t) at each measurement point. An automatic gain control adjusts the voltage amplitude Ai(t) of a sine wave of frequency fi applied to the sensor units at each measurement point to bring the voltage amplitude measured at each measurement point in line with a target voltage. The adjusted voltage Ai(t) is applied to the bandpass filter with a composite sine wave y(t) which includes sine waves of each frequency corresponding to the adjusted voltage amplitude Ai(t). This makes it possible to reduce the number of lines between the controller and touch sensors that includes numerous measurement points, and enables the gain of the touch sensors constituted by strain gauges to be controlled within an appropriate range.
    • 用于检测触觉信息的系统包括应变计触摸传感器和控制器。 基于每个韧性传感器传感器单元的总和输出,控制器中的分析器计算每个测量点处的触摸力F i(t)。 自动增益控制调节在每个测量点处施加到传感器单元的频率f i i i i的正弦波的电压振幅A SUB(t),以测量电压幅度 在每个测量点与目标电压一致。 调整后的电压A 1(t)以复合正弦波y(t)施加到带通滤波器,复合正弦波y(t)包括对应于调整的电压幅度A i的每个频率的正弦波, (t)。 这使得可以减少控制器和包括许多测量点的触摸传感器之间的线数,并且使得由应变计构成的触摸传感器的增益能够被控制在适当的范围内。