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提出了在触觉传感器动态触摸物体表面时，只利用传感器信号本身求触摸速度的方法．该方法利用了不同深度的触觉传感信号，并对该信号的时间频率和空间频率进行分析，根据它们的时空尺度变换特征求解速度．仿真结果表明，该方法可以对一定范围内的速度进行较精确地测量
The method of finding the touch speed by using only the sensor signal itself is proposed when the touch sensor dynamically touches the surface of the object. The method uses tactile sensing signals of different depths and analyzes the temporal frequency and spatial frequency of the signal, and transforms the characteristic solution speed according to their space-time scales. Simulation results show that this method can measure the speed within a certain range more accurately