平面上の接触と滑りおよび直方体の角を識別する触覚センサ信号処理

概要

論文の詳細を見る
Signal processing for slip and contact sensing for a tactile sensor is presented. Small strips of piezoelectric film (PVDF) were embedded in a rubber thimble filled with silicon rubber. The sensor detected the vibration caused by slip and contact. A short impulsive vibration was generated when the sensor made contact with an object, and a random noise-like signal was observed when slip occurred at the contact point. Slip was differentiated from contact by counting the number of peaks in the waveform within a 6.4 ms interval. This non-linear filtering method was shown to be more effective than ordinary frequency domain filtering. Several experiments using the two-fingered robotic hand are presented to demonstrate the sensitivity of contact and slip sensing.
社団法人日本時計学会の論文
2004-03-10