用气流激发声波，通过管子变形时的音调变化来精确测量局部应变。
Strain in Sound: Soft Corrugated Tube for Local Strain Sensing with Acoustic Resonance
- 利用气流在褶皱管内产生驻波声频，通过频率变化感知应变。
- 双周期设计误差仅0.8毫米，单周期也达1毫米，精度高。
- 适合软体机器人关节等非均匀形变的实时监测。
我们提出一种软性褶皱管传感器，用于估算每个半段的局部应变。当空气流经管体时，内部褶皱腔体引发压力振荡，激发管体的驻波共振模式，产生声学音调。拉伸管体同时改变整体长度导致的共振频率，以及因腔宽变化引起的频率-流速关系，特别适用于局部应变估计。通过控制流速扫频，在不同局部拉伸条件下采集共振频率数据，采用梯度提升回归算法实现高精度段级应变估计。双周期管（3.1毫米与4.18毫米褶皱周期）实现均方绝对误差（MAE）为0.8毫米，单周期管（3.1毫米）亦达到满意的1毫米。在假人手指上的测试表明，该传感器可区分多关节配置，展现出对软体物体非均匀形变估计的潜力。
原文摘要 · Abstract (English)
We present a soft corrugated tube sensor designed to estimate strain in each half segment. When air flows through the tube, the internal corrugated cavities induce pressure oscillations that excite the tube's standing wave resonance mode, generating an acoustic tone. Stretching the tube affects both the resonance mode frequency, due to changes in overall length, and the frequency-flow speed relationship, due to variations in cavity width, which is particularly useful for local strain estimation. By sweeping flow rates in a controlled manner, we collected resonance frequency data across flow speeds under various local stretch conditions, enabling a machine learning algorithm (gradient boosting regressor) to estimate segmental strain with high accuracy. The dual-period tube design (3.1 mm and 4.18 mm corrugation periods) achieved a mean absolute error (MAE) of 0.8 mm, while the single-period tube (3.1 mm) provided a satisfactory MAE of 1 mm. Testing on a mannequin finger demonstrated the sensor's capability to differentiate multi-joint configurations, showing its potential for estimating non-uniform deformations in soft bodies.
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