219 複数のウィスカを有する触覚センサの研究

概要

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We have already proposed the tactile sensor with multi artificial whiskers, which mimic whiskers of animals. The proposed sensor distinguishes the types of contact objects from the condition of the deflection direction of each whisker that contacts objects. However, objects which the sensor can distinguish only simple forms of comparatively small objects. Thus, the present study will propose a new method to distinguish complicated and large objects. The proposed method uses a sensor block consist of a small number of whiskers. The sensor block will distinguish a simple local form of a large contact objects which has complicated form. The new method integrates the distinguished local surface forms of a contact object, and clarifies the type of the object. This study will perform some experiments to distinguish complicated objects and confirm the availability of the proposed method.
社団法人日本機械学会の論文
2002-04-18