418 触覚センサの開発とその静特性

概要

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In this research, the sensor, which has arranged 12 sensor elements that can detect vertical force and shear force in the 15mm×20mm area at the same plane, was developed. Since hysteresis and mutual interference exist in output of each sensor element, it is necessary to correct them. However, vertical force and shear force of the each sensor element have been detected by disregarding from the effect is small for the hysteresis, and the correction of the hysteresis is difficult, and correcting only the mutual interaction. Then, in the research, the method of interaction correction for the each sensor element was proposed, and the effectiveness was verified. As the result, it was able to be shown that the method of the mutual interaction correction was effective, and that the each sensor element requires vertical force and shear force which are charged on the each sensor element is possible.
社団法人日本機械学会の論文
2003-10-30