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

doi:10.1109/TIM.2022.3147904

	Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study
	Gui, Mei-Jiang1,2 ; Zhou, Xiao-Hu1,2 ; Xie, Xiao-Liang1,2 ; Liu, Shi-Qi1,2 ; Li, Hao 1,2; Xiang, Tian-Yu1,2 ; Wang, Jin-Li 3; Hou, Zeng-Guang1,2,4,5
发表期刊	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
ISSN	0018-9456
	2022
卷号	71 页码:11
通讯作者	Zhou, Xiao-Hu(xiaohu.zhou@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
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.
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
DOI	10.1109/TIM.2022.3147904
关键词[WOS]	TACTILE ; PERCEPTION ; MACHINE ; SOFT
收录类别	SCI
语种	英语
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]
项目资助者	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
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000766300200126
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	多模态智能
引用统计	被引频次：9[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/48118
专题	复杂系统认知与决策实验室_先进机器人
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.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.China Univ Min & Technol, Sch Mech Elect & Informat Engn, Beijing 100083, Peoples R China 4.CAS Ctr Excellence Brain Sci & Intelligence Techn, Beijing 100190, Peoples R China 5.Macau Univ Sci & Technol, Inst Syst Engn, Joint Lab Intelligence Sci & Technol, Taipa, Macao, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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.