用声音压力无接触监测静电吸附力，低成本实现物体质量与吸附状态感知。
Monitoring Electrostatic Adhesion Forces via Acoustic Pressure
- 通过麦克风捕捉静电吸附时产生的周期性声压信号，实现非接触测量。
- 声压峰值随物体质量、接触面积及驱动电压幅频升高而增大，可量化反馈。
- 适用于抓取过程中物体质量变化监测，适合轻型机器人末端执行器。
静电吸附广泛应用于移动机器人、触觉反馈和机械手末端执行器，因其对多种表面的适应性和低功耗特性。力传感对反馈控制、交互和系统监控至关重要，但传统方法依赖体积大、成本高的传感器，增加了系统复杂性和重量。本文提出一种基于声压的非接触式静电吸附力监测方法：当带电导体被双极方波电压驱动吸附时，系统产生周期性声脉冲。使用麦克风采集声压信号，研究其峰值变化规律。结果表明，声压峰值随被吸附物体的质量和接触面积，以及驱动电压的幅值和频率增加而上升。该技术成功应用于不同物体的质量估计，并实现两个静电吸附系统的同步监测。进一步将其集成至静电吸附末端执行器中，实现了运输过程中吸附物体质量变化的实时监控。该方法提供了一种低成本、非接触、多目标监测的解决方案，适用于各类抓取任务中的静电吸附末端执行器。
原文摘要 · Abstract (English)
Electrostatic adhesion is widely used in mobile robotics, haptics, and robotic end effectors for its adaptability to diverse substrates and low energy consumption. Force sensing is important for feedback control, interaction, and monitoring in the EA system. However, EA force monitoring often relies on bulky and expensive sensors, increasing the complexity and weight of the entire system. This paper presents an acoustic-pressure-based method to monitor EA forces without contacting the adhesion pad. When the EA pad is driven by a bipolar square-wave voltage to adhere a conductive object, periodic acoustic pulses arise from the EA system. We employed a microphone to capture these acoustic pressure signals and investigate the influence of peak pressure values. Results show that the peak value of acoustic pressure increased with the mass and contact area of the adhered object, as well as with the amplitude and frequency of the driving voltage. We applied this technique to mass estimation of various objects and simultaneous monitoring of two EA systems. Then, we integrated this technique into an EA end effector that enables monitoring the change of adhered object mass during transport. The proposed technique offers a low-cost, non-contact, and multi-object monitoring solution for EA end effectors in handling tasks.
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