1A2-A07 静電気を利用した触覚センサ(触覚と力覚)

概要

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The tactile sensor which is used at the whole body of the humanoids should be the low price because the humanoids need many sensors. However, many existing tactile sensors utilize expensive tactile sensor elements and peripheral circuits. This paper proposes a novel tactile sensor which consists of a charged body a conductive wire only. The sensor utilizes the charging phenomenon and the electrostatic induction phenomenon, and can detect various touch conditions. Because of the principle of the sensor, the designer can select arbitrary materials as the sensor. Therefore, the sensor has flexibility and stretchability if the sensor is made of soft material. The paper reports the principle and basic features of the sensor. Experiments show that the sensor output depends on contact dimension, contact velocity, and material of contact objects. However, the sensor does not depend on contact weight.
一般社団法人日本機械学会の論文
2007-05-11