1A1-H08 反射型触覚センサの動的特性評価(触覚と力覚)

概要

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Considering tactile sensors there are two ways to acquire object information. These are spatial sensing with two dimensional devices and fast sensing with simple devices. Because the reflection-type tactile sensor uses a reflection image, both methods can be employed. Though there exist some dynamic characteristics in these two ways. In this study, we first validate the hysteresis of the reflection-type tactile sensor. The results show the sensor can evaluate displacement less than 2 mm. Then we propose a novel interface called "fibratus tactile sensor." Secondly we construct a fast sensing device using reflection image and a combination of light emitting diodes (LEDs) and photodiodes (PDs), and validate the sensor's reactivity. It can distinguish 300 ms interval between two signals. Moreover the correlation between the standard deviations of the acquired outputs from the sensor and the centerline average roughness is 0.90.
一般社団法人日本機械学会の論文
2008-06-06