３軸力覚・振動覚を有する触覚センサの開発と物体の並進・回転滑り識別への応用

• 山田 陽滋

  豊田工業大学

• カトコウスキー マークR.

  スタンフォード大学

書誌事項

タイトル別名

• Tactile Sensor with 3-Axis Force and Slip Vibration Functions and Its Application to Distinguish Rotational Slip from Translational One.

抄録

This paper concerns a new tactile sensor with both 3-axis force sensing and slip vibration sensing functions. The first three axis force sensing is achieved with tactile heads, each of which transmits the 3-axis contact force and is supported by three pressure transducers. The pressure transducer measures a change in the contact resistance between a specially treated polyimide film and a resistive substrate. The slip sensing function is achieved through the use of a stress-rate sensor that responds to smallscale variations in a surface profile with roughness. Detecting circuits for each of the transduction method were shown with their input stress (rate) -output voltage formulae. Static analysis of the 3-axis force sensing was made and compared with the experimental results. We show an index which gives the curvature of slip direction and enables the sensor for distinguishing rotational slip of an object on the sensor from translational slip. Further experiments were conducted to show the applicability of the index.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 13 (4), 539-544, 1995

  一般社団法人 日本ロボット学会

キーワード

• Tactile Sensor
• 3-Axis Force
• Sensing
• Slip Vibration Sensing
• Rotational Slip
• Translational Slip

詳細情報

• CRID: 1390001204725454976
• NII論文ID: 10007439316
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.13.539
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可