ピラミッドアレイ状光導波形触覚センサの試作

概要

論文の詳細を見る
A new tactile sensor applying an optical waveguide plate was developed to detect not only three-axis force but also hardness and surface profile of an object. The sensor comprised a plane rubber sheet and an acrylic plate (optical waveguide plate) forming into an array of pyramidal projections. The reverse surface of the rubber sheet was checkered with square concave and convex portions; step height arising between them was about 0.3 min. Since the single concave or convex projection was arranged to press 2 times 2 array of pyramidal projections, three-dimensional force applied on reverse side of concave or convex surface was calculated from distribution of the four contact areas of the projections. The hardness of the object was measured from difference between contact areas of the concave and convex portions. A series of finite element contact analyses was performed to provide relationship between the step height and hardness. Experimental results showed that the present tactile sensor was capable of detecting three-axis force, and that the hardness and surface profile of the object were confirmed to be measured from the difference between contact areas of the concave and convex portions, and the distribution of indentation depth by the pyramidal projections, respectively.
社団法人日本機械学会の論文
1999-08-25