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Research and Development of Tactile Sensors for Artificial Fingers

Research Project

Project/Area Number 04650309
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 情報工学
Research InstitutionNiigata University

Principal Investigator

OKADA Tokuji  Niigata Univ. Faculty of Eng. Professor, 工学部, 教授 (60194362)

Project Period (FY) 1992 – 1993
Project Status Completed (Fiscal Year 1993)
Budget Amount *help
¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1993: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1992: ¥1,300,000 (Direct Cost: ¥1,300,000)
KeywordsTactile Sensor / Dextrous Finger / Optical Projection / Inverse of Optical Projection / Suspension Shell / Displacement Measurement / Pinhole / PSD / Tactile Sensor / Optical Projection / Inverse of Projection / Dextrous Fingers / Suspension Shell / Photosensors / Displacement Measurement
Research Abstract

An optical measurement method is discussed to obtain 5 displacement parameters of a suspension shell which is a principal component of an artificial tactile sensor utilizing suspension-shell mechanisms. The procedure of extracting magnitude, direction and position of an external force operating on the shell is clarified by analizing dynamics of the suspension mechanism composed of springs, and is verified by the result of a simulation of contact. Also, the tactile sensor for fingers with outer diameter of 20mm is designed and fabricated by utilizing PSDs(Position Sensing Device)having the photosensitive area of 4.1mmx4.1mm. The sensor is attached on the gripper of the small robot(Movemaster ER.RV-M1)to obtain tactual information from areas of both the end and the periphery of the finger in the experiment. Then it is confirmed that the sensor makes it possible to get the information such that the magnitude, direction and position of the external force. Moreover, it is verified that the … More vibration of the shell in contacting is suppressed since the viscosity appearing in the connection at the ends of springs brings about damping effect when the motional speed of the finger is not so high as that of hammering.
Each of the five displacement parameters has a tendency to reach the limit of its dynamic range when the sensor is designed so that the minimun force sensitivity becomes small. In this case, the value of each displacement is checked to know whether the motion is critical. In such the case when some of the parameters reach critical, a slip may happen between the shell and an object and a great force is supported by the finger body. Thus, there is no problem about deformations of the suspension shell and decoupling of the springs in the mechanism as far as the shell and the finger body are similar in shape. This research will be extended by investigating the scanning method of light emitting devices so that the time required to obtain tactual information might be shortened in future. Less

Report

(3 results)
  • 1993 Annual Research Report   Final Research Report Summary
  • 1992 Annual Research Report
  • Research Products

    (17 results)

All Other

All Publications (17 results)

  • [Publications] 岡田徳次: "光の投影逆変換を用いる人工指触覚センサのための変位パラメータの検出法" 日本ロボット学会誌. 12(発表予定). (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 岡田徳次: "浮動莢機構を用いた触覚センサの力学情報の抽出" 日本ロボット学会誌. 12(発表予定). (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 岡田徳次: "光の投影逆変換を用いる指用触覚センサの一構成法" 日本機械学会ロボメック93講演論文集. B. 268-273 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 岡田徳次: "浮動莢機構を用いた触覚センサの力学情報の抽出" 日本ロボット学会学術講演会予稿集. 407-410 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Tokuji Okada: "Detection of Dynamic Information by a Tactile Sensor Utilizing Displacement Parameters of a Suspension Shell" Proc.of the IEEE Int.Conf.on Multisensor Fusion and Integration for Intelligent Systems. (発表予定). (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] T.Okada, K.Inamura, S.Nakajima: "Measurement Method of Displacement Parameters to Develop Tactile Sensors for Dextrous Fingers Using Inverse of Optical Projection" J.of Robotics Society of Japan. Vol.12, no.2. (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] T.Okada, T.Suzuki, K.Inamura: "Detection of Dynamic Information by a Tactile Sensor Utilizing a Suspension shell" J.of Robotics Society of Japan. (to be published). (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] T.Okada, K.Inamura: "A Design Concept of Tactile Sensors for Robot Hands Using Inverse of Optical Projection" Proc.of JSME Annual Conf.on Robotics and Mechatronics. Vol.B. 268-273 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] T.Okada, T.Suzuki, K.Inamura: "Detection of Dynamic Information of a Tactile Sensor Utilizing a Suspension Shell Mechanism" Proc.of the Robotics Society of Japan. 407-410 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] T.Okada, K.Inamura, T.Suzuki: "Detection of Dynamic Information by a Tactile Sensor Utilizing Displacement Parameters of a Suspension Shell" Proc.of the IEEE Int.Conf.on Multisensor Fusion and Integration for Intelligent Systems. (to be Published). (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 岡田徳次: "光の投影逆変換を用いる人工指触覚センサのための変位パラメータの検出法" 日本ロボット学会誌. 12(発表予定). (1994)

    • Related Report
      1993 Annual Research Report
  • [Publications] 岡田徳次: "浮動莢機構を用いた触覚センサの力学情報の抽出" 日本ロボット学会誌. 12(発表予定). (1994)

    • Related Report
      1993 Annual Research Report
  • [Publications] 岡田徳次: "光の投影逆変換を用いる指用触覚センサの一構成法" 日本機械学会ロボメック93講演論文集. B. 268-273 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 岡田徳次: "浮動莢機構を用いた触覚センサの力学情報の抽出" 日本ロボット学会学術講演会予稿集. 407-410 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] Tokuji Okada: "Detection of Dynamic Information by a Tactile Sensor Utilizing Displacement Parameters of a Suspension Shell" Proc.of the IEEE Int.Conf.on Multisensor Fusion and Integration for Intelligent Systems. (to be published). (1994)

    • Related Report
      1993 Annual Research Report
  • [Publications] 岡田 徳次: "光の投影逆変換を用いる人工指触覚センサの構成法" 日本ロボット学会誌.

    • Related Report
      1992 Annual Research Report
  • [Publications] 岡田 徳次: "光の投影逆変換を用いる指用触覚センサの一構成法" 日本機械学会 ロボティクス・メカトロニクス講演会'93.

    • Related Report
      1992 Annual Research Report

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Published: 1992-04-01   Modified: 2016-04-21  

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