Force Response Characteristics for Fine Deformation of CMC Touch Sensor in a Hybrid Tactile Sensor System

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  • Kawamura Takuya
    Department of Human and Information Systems, Gifu University
  • Nejigane Ko
    Department of Human and Information Systems, Gifu University
  • Tani Kazuo
    Department of Human and Information Systems, Gifu University

抄録

In this paper, we measured the response characteristics of a Carbon Micro Coil (CMC) touch sensor with respect to the parameters of fine deformation and force, and developed a hybrid tactile sensor system consisting of a CMC touch sensor and a force sensor. The CMC touch sensor is made of silicon rubber containing CMCs. The CMC touch sensor is considered to constitute an LCR circuit and, deformed mechanically, to produce signals due to the modification of the circuit. Our developed hybrid tactile sensor system uses the sensor signals of the CMC touch sensor and the force sensor and has the capability to measure not only the magnitudes of compressing force and compressive deformation applied to the silicon rubber of the CMC touch sensor when an object touches it but also the amount of fine deformation and the variation of the force accompanying it when the object slides slightly. In the experiment, we measured the sensor signals of the hybrid tactile sensor system as the response to the fine deformation of 1 to 10 μm and evaluated the response characteristics of the CMC touch sensor to the parameters of fine deformation and force differential accompanying it. And it was found that the force response characteristics of the CMC touch sensor is almost linear in the force differential of the range of 0 to 3 N regardless of the amounts of compressive deformation and compressing force. We also conducted an experiment to estimate the fine deformations and force differentials of the CMC touch sensor when the fine deformations of 1 to 10 μm were given to it, and evaluated the performance of the hybrid tactile sensor system.

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