2A2-O04 高速・高感度型すべり覚センサの研究開発 : 高速度カメラによるすべり検出原理の解明(触覚と力覚(1))

概要

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Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. When an object slides on the surface of our slip sensor, the complex output change occurs. By using this output change, this sensor can distinguish between the object slip and the normal force change. But, the mechanism of the complex voltage change is unclear. So, in this paper, we will observe the slip surface of an acrylic plate and the rubber with a high-speed camera. And, we report on the sensor output and the relation to the sensor output and the state of rubber.
一般社団法人日本機械学会の論文
2011-05-26