332 マトリクス型触覚センサによる接触と滑りの検出(センサー関連技術, OS-18 計測・評価・診断)

概要

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The purpose of this study is to improve the accuracy of the matrix tactile sensor and to confirm its usefulness. The matrix tactile sensor consists of 12 sensor elements. A single sensor element can measure the triaxial forces using the strain gauges. For raising accuracy of the measurement, we clarify the relationship between forces and strains based on the experiments, predict forces using the value of measured strains, and estimate the uncertainty of the measured strain values from the statistical point of view. These results suggest the actual measurement force value and the predicted force value show high coincidence. For confirming the usefulness of the matrix tactile sensor, we discuss about the detection of then center of gravity movement.
社団法人日本機械学会の論文
2004-09-27