Development of Soft Stretchable Enclosing Type Knit Sensor Exterior for Human-Robot Interaction

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  • Yoshikai Tomoaki
    Graduate School of Information Science and Technology, The University of Tokyo
  • Fukushima Hiroko
    Graduate School of Information Science and Technology, The University of Tokyo
  • Kobayashi Kazuya
    Graduate School of Information Science and Technology, The University of Tokyo
  • Inaba Masayuki
    Graduate School of Information Science and Technology, The University of Tokyo

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Other Title
  • 対人インタラクションのための伸縮可能な被覆型柔軟ニットセンサ外装の開発
  • タイジン インタラクション ノ タメ ノ シンシュク カノウ ナ ヒフクガタ ジュウナン ニットセンサ ガイソウ ノ カイハツ

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Abstract

In order for humanoid robots to behave with soft contacts among humans, whole-body tactile sensing function is indispensable. For enclosing whole-body regions of a humanoid, softness and the stretchable property is necessary especially for the regions around joints. Although there are some studies to realize a whole-body enclosing-type tactile sensing exterior so far, most of them have difficulties to enclose the joint regions. Therefore, we propose the method to construct a soft stretchable enclosing type tactile sensing exterior using electro-conductive knitting structure and about 200% stretchable and pressure sensitive exterior can be realized. Furthermore cardigan type knit sensor exterior is developed and the feasibility of the proposed method is confirmed through behavior experiments by a humanoid wearing the developed cardigan knit sensor.

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