| Project/Area Number |
12450168
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (B)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Measurement engineering
|
|---|
| Research Institution | Toyota Technological Institute |
|---|
Principal Investigator |
YAMADA Yoji Information-Aided Technology Graduate School, Toyota Technological Institute, Associate Professor, 大学院・工学研究科, 助教授 (90166744)
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
MORIZONO Tetsuya Information-Aided Technology Graduate School, Toyota Technological Institute, Research Associate, 大学院・工学研究科, 助手 (70309003)
UMETANI Yoji Information-Aided Technology Graduate School, Toyota Technological Institute, Professor, 大学院・工学研究科, 教授 (20013120)
MAENO Takashi Faculty of Science & Engineering, Keio University, Associate Professor, 理工学部, 助教授 (20276413)
|
|---|
| Project Period (FY) |
2000 – 2001
|
| Project Status |
Completed (Fiscal Year 2001)
|
| Budget Amount *help |
¥12,800,000 (Direct Cost: ¥12,800,000)
Fiscal Year 2001: ¥5,500,000 (Direct Cost: ¥5,500,000)
Fiscal Year 2000: ¥7,300,000 (Direct Cost: ¥7,300,000)
|
|---|
| Keywords | tactile sensing / static friction sensation / mechano receptor / PVDF film / stress / finger ridge / strain / incipient slip |
|---|
| Research Abstract |
The objective of the study was to realize static friction sensation mechanism by developing artificial skin with mechanical structure and a sensing function equivalent to those of human skin.
To begin with, structural features of a human finger were imitated: Ridges were molded on a silicone rubber surface, and the shape was formed to have a macroscopic curvature. A pair of PVDF or strain gauge film sheets confronting each other were embedded in a ridge as artificial Meissner corpuscles. Artificial skin with the above futures was used to conduct the following studies.
First, the amplitude characteristic of the PVDF circuit system was examined to have a combined first-order (stress-rate) and a third-order (stress-jerk) frequency characteristics with a breakpoint in between the two. Second, the differential PVDF circuit output originating in either one kind of two film sheets generated a low frequency signal wave form pattern indicating the sign of an incipient slip, which was followed by higher frequency slip sequence signals. The results cohered with a simulation result of dynamic behavior analysis for an incipient slip using FEM.
Third, it was verified that such a characteristic sequence of signals did not appear when an object rolled on the skin surface. Moreover, we demonstrated the effectiveness of the incipient slip information through grasping force control of a two-fingered hand to hold an object regardless of the weight and the surface roughness.
From the above results, we conclude that incipient slip detection with a differential output from a pair of artificial Meissner corpuscles fulfils a main role of the static friction sensing mechanism.
|
