Design and Simulation of a Tactile Sensor for Soft-Tissue Compliance Detection

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A detailed design procedure for a tactile sensor for compliance detection is developed. The sensor principle is based on the concept of applying two springs, with considerably different stiffnesses, to soft tissue for compliance detection. The spring stiffnesses are chosen to be associated with the soft tissue properties. The sensor design parameters are optimized to give high sensitivity and linearity of the sensor output with taking into account the effect of crosstalk between two springs due to the tissue deformation. A finite element model is developed to investigate the sensor performance with the designed parameters using two types of spring end, namely cubic and spherical in shape. The results show a significant stability of reading with the cubic end rather than the spherical one during pushing the sensor against a tissue. Finally, the same finite element model is used with changing the distance between the spring ends to show the crosstalk effect due to the tissue deformation.

収録刊行物

  • 電気学会論文誌. E, センサ・マイクロマシン準部門誌 = The transactions of the Institute of Electrical Engineers of Japan. A publication of Sensors and Micromachines Society  

    電気学会論文誌. E, センサ・マイクロマシン準部門誌 = The transactions of the Institute of Electrical Engineers of Japan. A publication of Sensors and Micromachines Society 128(5), 186-192, 2008-05-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10021135259
  • NII書誌ID(NCID)
    AN1052634X
  • 本文言語コード
    ENG
  • 資料種別
    ART
  • ISSN
    13418939
  • NDL 記事登録ID
    9496142
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-B380
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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