M7-3 指紋を有する高感度触覚センサーの開発(M7 ナノ・マイクロシステム)

概要

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A micro-scale fingertip tactile sensor with epidermal ridges is proposed to enhance the sensitivity of precise force detection. By mimicking the major characteristics of human skin - epidermal ridges and Meissner's corpuscles, the proposed tactile sensor is fabricated by the large deformable polymer-polydimethylsiloxane (PDMS), so that it is stretchable to be mounted on the robot or human fingertip, and flexible to apply the manipulation on the object surface as well. The major parameters of the ridge are optimized by material stability calculation and FEM simulation, which are 400μm in width and 110μm in height. Experiments are conducted to evaluate the validity of the proposed tactile sensor against normal force, and the results show that, with the certain epidermal ridges, the outputs can achieve an enhancement 1.7 times as sensitive as the tactile sensor without ridges.
一般社団法人日本機械学会の論文
2009-10-15