2P2-B10 接触の局所的な時空間差分情報を用いた軟性触覚センサアレイシステムによる触覚情報処理 : 接触の強さ情報を含めた処理法による対象物体形状の類別

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This paper deals with classification of shape of prism objects by using soft tactile sensor array system of a five-links single robotic finger. The front surface of each link is covered with semi-circular silicone rubber equipped with 235 small on-off switches. The on-off data from these switches obtained during grasping an object is transformed into a spatial-temporal matrix form. As 8 cells around the contact switch is considered useful to extract the local spatial-temporal character of contact physics, the frequency of the 8 cells patterns composed of 0-1 data around the switch contacted is obtained for each object and then used to form a contact-feature vector. This vector is obtained 10 times of experimental trial, corresponding to each object. The vectors are classified by Mahalanobis distance for 12 objects (14 postures) resulting in 13 grasping postures. By using contact strength information, over 90% classification accuracy is obtained for 7 objects that didn't have any convergence posture, and we couldn't classify without contact strength information.