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

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書誌事項

タイトル別名
  • Experimental Investigation on Technique to Read Convex Shape by MCF Rubber Sensor Utilizing Robot Action
  • 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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抄録

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.

収録刊行物

  • 実験力学

    実験力学 14 (2), 86-93, 2014

    日本実験力学会

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