柔軟性と伸縮性のある静電気式触覚センサの原理と特性 A Principle and Characteristics of a Flexible and Stretchable Tactile Sensor Based on Static Electricity Phenomenon

この論文にアクセスする

この論文をさがす

著者

抄録

Tactile sensors are required for various robots. In humanoid robots, softness is an important feature for physical damage prevention and for interacting with the human. Moreover, if the sensor is made of stretchable material, the sensor is unbreakable and can be put on curved surfaces and joints easily. This paper proposes a novel tactile sensor which is flexible and stretchable because it is made of soft material. The sensor utilizes static electricity and electrostatic induction phenomenon, and can detect some touch conditions. Detail of principle and basic characteristics of the proposed sensor are reported in the paper. Experiments show that the sensor output depends on touch area, touch velocity, and material of touch objects. However, the sensor does not depend on touch weight. Moreover, an experiment shows that even if the proposed sensor is stretched, it performs as the tactile sensor.

Tactile sensors are required for various robots. In humanoid robots, softness is an important feature for physical damage prevention and for interacting with the human. Moreover, if the sensor is made of stretchable material, the sensor is unbreakable and can be put on curved surfaces and joints easily. This paper proposes a novel tactile sensor which is flexible and stretchable because it is made of soft material. The sensor utilizes static electricity and electrostatic induction phenomenon, and can detect some touch conditions. Detail of principle and basic characteristics of the proposed sensor are reported in the paper. Experiments show that the sensor output depends on touch area, touch velocity, and material of touch objects. However, the sensor does not depend on touch weight. Moreover, an experiment shows that even if the proposed sensor is stretched, it performs as the tactile sensor.

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 26(2), 210-216, 2008-03-15 

    社団法人 日本ロボット学会

参考文献:  14件

参考文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

被引用文献:  2件

被引用文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

各種コード

  • NII論文ID(NAID)
    10021142020
  • 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
    9422464
  • 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  IR  J-STAGE 
ページトップへ