皮膚の変形に追従する高密度触覚センサグローブ  [in Japanese] High-density Conformable Tactile Sensing Glove  [in Japanese]

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Author(s)

    • 鷺坂 隆志 SAGISAKA Takashi
    • 東京大学情報学環・学際情報学府 Interfaculty Initiative in Information Studies/Graduate School of Interdisciplinary Information Studies, The Univ. of Tokyo
    • 大村 吉幸 OHMURA Yoshiyuki
    • 東京大学情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The Univ. of Tokyo
    • 國吉 康夫 KUNIYOSHI Yasuo
    • 東京大学情報学環・学際情報学府 Interfaculty Initiative in Information Studies/Graduate School of Interdisciplinary Information Studies, The Univ. of Tokyo

Abstract

To understand the principles of human hand dexterity, investigation of dynamic contact control by the hand is essential. This paper proposes a novel high-density tactile sensing glove lined with sensor sheets, which were flexible printed circuit boards embedded with 1-[mm]-sized pressure sensitive elements at 1,052 points per hand. The sensor sheets were tree-shaped, especially designed to accommodate deformations of the skin in order to minimize interference of the wearer's natural finger movements. The design also permitted seamless coverage and allowed the tactile sensor elements to be distributed at a high density over the entire inner surface of the hand. In our experiment, we found that our tactile sensor sheets reduced interference of joint movements by one-third compared to existing tactile sensors. Moreover, we verified that our glove makes qualitatively consistent measurements of pressure distributions over the surface of hand for each of everyday objects handled by the wearer despite large deformations in the skin.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 30(7), 711-717, 2012-09-15

    The Robotics Society of Japan

References:  17

Codes

  • NII Article ID (NAID)
    10031028447
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    02891824
  • NDL Article ID
    023969968
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  NDL  J-STAGE 
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