909 位相シフト法を利用した新しいロボット用触覚センサ素子の開発

概要

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We developed a new tactile sensor for robotic hand using a phase shift system. The new sensor, which consists of a piezoelectric transducer (PZT) and a phase shift circuit, is able to detect, very much like the human hand, the hardness and/or softness of an object. Conventional tactile sensors, which are of many types, and for example, consist of a strain gauge and conductive elastomer, and their use in the various fields is multifold. However they are confined to solely to data acquisition relating to pressure or force, and do not provide information on the physical characteristics, such as the hardness and /or softness, of an object. We carried out several experiments to investigated the possible applications of a new sensor in robotics and medicine. The experimental results demonstrate that the new sensor is capable of sensing clear differences in hardness and possesses of human-hand-like qualities.
社団法人日本機械学会の論文
2003-09-05