2P2-B07 セルブリッジネットワークによる人工皮膚

概要

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"Cell-bridge network" is a communication system which consists of two-dimensional areas called "cells" and signal transmission devices called "bridges". In this paper, we propose a tactile sensor skin as one of applications of the system. In this application, the cells are not only communication media but also parts of capacitive tactile sensor elements, and the bridges not only transmit signals but also measure the capacitances of the sensor elements. The structure of the sensor element is very simple; two layers of compressible insulators which are sandwiched between three pieces of stretchable conductive sheets. The sensor element acquires a contact area in addition to a contact force within its sensing area. The resulting robot skin is soft, stretchable, and suitable to cover a large area such as a whole surface of a humanoid robot.
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