Experimental Investigation on Technique to Read Convex Shape by MCF Rubber Sensor Utilizing Robot Action
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- SHIMADA Kunio
- 福島大学共生システム理工学類
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- ZHENG Yaoyang
- 福島工業高等専門学校
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- SAGA Nobuhiko
- 関西学院大学理工学部
Bibliographic Information
- Other Title
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- ロボットの動作を利用したMCFゴムセンサによる凸型形状読み取り技術に関する実験的研究
- ロボット ノ ドウサ オ リヨウ シタ MCF ゴムセンサ ニ ヨル トツガタ ケイジョウ ヨミトリ ギジュツ ニ カンスル ジッケンテキ ケンキュウ
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Abstract
At the fields of robotics, many types of sensor that is responsible to shear force as well as normal force have developed. Our improved haptic MCF rubber by combining metal particles in balloon crude rubber has high sensitivity for subtle normal and shear forces, and becomes suitable sensor for convex shape. Therefore, we proposed the technique to read convex shape by the MCF rubber sensor attached on a finger of a robot. The sensor has the response of the electric current flowing inner the MCF rubber to the shear and normal forces. The MCF rubber is also rapped by silicone oil rubber with fingerprint. The sensing depends on the shape of fingerprint. Because of the bending state of the sensor installed on the robot finger surface, the sensing enhances. We also experimentally clarified the response to the convex shape such as Japanese Braille by settling multi electrodes inner the sensor.
Journal
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- Journal of the Japanese Society for Experimental Mechanics
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Journal of the Japanese Society for Experimental Mechanics 14 (2), 86-93, 2014
The Japanese Society for Experimental Mechanics
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Details 詳細情報について
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- CRID
- 1390282680166303744
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- NII Article ID
- 130004489850
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- NII Book ID
- AA11822914
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- ISSN
- 18844219
- 13464930
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- NDL BIB ID
- 025639966
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- CiNii Articles
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- Abstract License Flag
- Disallowed