A Tactile Distribution Sensor Based on Inverse Problem Theory
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- Nagakubo Akihiko
- National Institute of Advanced Industrial Science and Technology (AIST)
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- Alirezaei Hassan
- The University of Tokyo
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- Kuniyoshi Yasuo
- The University of Tokyo
Bibliographic Information
- Other Title
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- 逆問題解析に基づく触覚分布センサ
- ギャクモンダイ カイセキ ニ モトズク ショッカク ブンプ センサ
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Abstract
Recent advances of robot technology raise increasing demands for tactile distribution sensor for safe and natural human-machine interaction. For a richer variety of tactile interaction, and for realizing a full surface coverage of various structure robots, not only flexibility, but also stretchability is very important. However, stretchability has been an impossible characteristic due to circuit wiring networks embedded in the sensors. This paper presents a tactile distribution sensor based on inverse problem theory. It solves the wiring problem and realizes a novel stretchable tactile distribution sensor, with potentially a broad range of functionality and applications. EIT, an inverse problem theory, can estimate the resistivity distribution of the inner space of a conductor, by measuring only from the boundary of the conductor. By applying EIT to a force sensitive resistive rubber sheet, a flexible, stretchable and thin tactile distribution sensor is realized with no embedded wiring within the sensing area. To verify the basic characteristics and potential of the EIT-based sensor, experimental results on pressure distribution and stretch dis-tribution sensors are reported. Morever, we propose a porous stretchable sensor with novel tactile sensing capability; pinching, rubbing and pushing. Proposals on possible augmentations of the sensor are also presented, including a construction technique for various sensitive conductors, a multi-layered sensor for multi-stimulus perception.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 25 (6), 960-969, 2007
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679703525248
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- NII Article ID
- 10019859648
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 8939124
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed