三角格子状に配置したコイルと磁性マーカを用いた柔軟触覚センサの基礎特性評価

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  • Investigation of sensor response of soft tri-axis tactile sensors composed of a ferromagnetic marker and three inductors arranged in a triangular lattice pattern

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<p>This paper describes a triangular-shaped soft tri-axis tactile sensor for implementing on the complex curved surface. The sensor is composed of a silicone rubber embedded a ferromagnetic marker and three inductors arranged in a triangular lattice pattern. In this structure, applied tri-axis force can be estimated by measuring the change in inductances caused by three-dimensional displacement of the marker. As a preliminary experiment, we investigated the basic sensor response, i.e. the changes in inductance versus the displacement of the marker. The experimental results indicate that the estimation error was large in a triangular lattice arrangement of three inductors when we employed the sum and difference of the measured inductances to estimate the marker displacement. We also found that the shape of the marker affects the estimation result of the marker displacement, and that the estimation error was reduced by using an inverted triangular shaped marker instead of a circular shaped marker.</p>

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