構造の弾性・粘性変化を利用した圧電振動型触覚センサ Piezoelectric Vibration-Type Tactile Sensor Using Elasticity and Viscosity Change of Structure

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著者

    • 元尾 幸平 MOTOO Kohei
    • 名古屋大学大学院工学研究科マイクロ・ナノシステム工学専攻 Department of Micro-Nano Systems Engineering, Nagoya University
    • 新井 史人 ARAI Fumihito
    • 名古屋大学大学院工学研究科マイクロ・ナノシステム工学専攻 Department of Micro-Nano Systems Engineering, Nagoya University
    • 福田 敏男 FUKUDA Toshio
    • 名古屋大学大学院工学研究科マイクロ・ナノシステム工学専攻 Department of Micro-Nano Systems Engineering, Nagoya University

抄録

We propose a new tactile sensor utilizing piezoelectric vibration. This tactile sensor has a high sensitivity, wide measurement range, pressure resistance, flexibility, and self-sensing function. This tactile sensor comprises two piezoelectric materials. One is used for the vibration of the sensor element and the other is used for the measurement of the change in mechanical impedance induced by an external force. We achieved the wide measurement range by implementing two ideas. One was to apply the external force to the sensor element through an elastic body and the other was to use two or more modes of vibration. Moreover, for the elastic body, it is preferable to use a material whose elasticity and viscosity are easily changed by an external force, such as a gel. In this study, first, this tactile sensor was analyzed, and then its characteristics were derived. The analytical results qualitatively corresponded to the experimental results. Next, a prototype tactile sensor was fabricated and evaluated. The evaluation results showed that this tactile sensor can measure a pressure of 2.5 [Pa] or less and a pressure of 10 [kPa] or more and its pressure resistance is 1 [MPa] or more.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 24(3), 408-415, 2006-04-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10018133070
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    7932207
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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