2A1-A04 振動感覚を識別する皮膚センサにおける衝撃センサ表面上の振動メカニズムの解析(変形による力覚モデリング・センシング)

概要

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In near the future, it is expected that robots will live with human in living space. We will have many chances to touch robots in anywhere. Therefore, robot needs to have skin sensory besides conventional tactile sensing technologies. So far, we have developed skin sensor system for robot which is able to recognize various stimuli as tickle, scratch, stroke and rub. The shock sensors are using for detection of acceleration by given stimuli and system surface is covered by polypropylene film. This paper is describes the analysis of vibration mechanism between system surface and shock sensor. We understood that generated stimuli by finger movements on system are transformed into lateral vibration and self-excited vibration by this analysis results.
2007-05-11