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Realization of Static Friction Sensing Mechanism by A Use of Artificial Skin

Research Project

Project/Area Number 12450168
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Measurement engineering
Research InstitutionToyota 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)
Keywordstactile 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.

Report

(3 results)
  • 2001 Annual Research Report   Final Research Report Summary
  • 2000 Annual Research Report
  • Research Products

    (36 results)

All Other

All Publications (36 results)

  • [Publications] 木村竜司, 内山孝憲, 前野隆司: "把持力制御のための2軸弾性フィンガ型センサの開発"日本機械学会ロボティクス・メカトロニクス講演会'02講演論文集. No.02-6(発表予定). (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Daisuke Yamada, Takashi Maeno, Yoji Yamada: "Artificial Finger Skin having Ridges and Distributed Tactile Sensors used for Grasp Force Control"Journal of Robotics and Mechatronics. 14-2(掲載予定). (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Y.Yamada, I.Fujimoto, T.Morizono, Y Umetani, T.Maeno, D.Yamada: "Development of Artificial Skin Surface Ridges with Vibrotactile Sensing Elements for Incipient Slip Detection"Proc.IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems. 251-257 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 山田陽滋, 前野隆司, 藤本勲, 森園哲也, 梅谷陽二: "人工触覚受容器としてのPVDFフィルムトランスデューサによる応力検出特性について"日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集. No.01-4. 1A1-C6 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Daisuke Yamada, Takashi Maeno, Yoji Yamada: "Artificial Finger Skin having Ridges and Distributed Tactile Sensors used for Grasp Force Control"Proc.IEEE/RSJ International Conference on Intelligent Robots and Systems. 686-691 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Daisuke Yamada, Yoji Yamada, Takashi Maeno: "Design of Artificial Finger Skin Having Ridges and Distributed Tactile Sensors"Proc.32nd International Symposium on Robotics. 1243-1248 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 木村竜司, 前野隆司, 内山孝憲: "ヒトの触覚機構を模倣した3次元弾性フィンガ型センサの開発(有限要素解析によるセンサの形状設計)"第22回バイオメカニズム学術講演会予稿集. 141-144 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 山田大介, 前野隆司, 山田陽滋: "指紋状凸部内部の分布触覚情報検出に基づく把持力制御用弾性フィンガの設計"日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集. No.01-4. 1A1-C9 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] YAMADA Yoji, MORIZONO Tetsuya, UMETANI Yoji, et al.: "Highly Soft Viscoelastic Robot Skin with Contact Surface Location Sensing Capability"Proc.32nd International Symposium on Robotics. 1237-1242 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 山田陽滋, 前野隆司他: "人工機械受容器としてのPVDFフィルムの検出感度特性について"第18回日本ロボット学会学術講演会(草津市)予稿集. Vol.3. 1005-1006 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 山田陽滋他: "ロボットハンドのための指紋を備えた高周波微振動検出式滑り覚センサ"計測自動制御学会論文集. 36・6. 473-480 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Maeno, et al.: "Development of Elastic Finger-like Sensor for Control of Grasping Force in Dual Axiis"Proc. JSME ROBOMEC '02. No. 02-6 (in press). (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Daiske YAMADA, Takashi MAENO, Yoji YAMADA: "Artificial Finger Skin having Ridges and Distributed Tactile Sensors used for Grasp Force Control"Journal of Robotics and Mechatoronics. Vol. 14, No. 2 (in press). (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Yoji Yamada, Takashi Maeno, et al.: "Development of Artificial Skin Surface Ridges with Vibrotactile Sensing Elements for Incipient Slip Detection"Proc. IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI2001). 251-257 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Y. Yamada, T. Maeno, et al.: "Study on The Stress Detection Characteristics of PVDF Film Transducers as Artificial Mechanoreceptors"Proc. JSME ROBOMEC '01. No. 01-4. 1A1-C6 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Daisuke YAMADA, Takashi MAENO, Yoji YAMADA: "Artificial Finger Skin having Ridges and Distributed Tactile Sensors used for Grasp Force Control"Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001. 686-691 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Daisuke YAMADA, Yoji YAMADA, Takashi MAENO: "Design of Artificial Finger Skin Having Ridges and Distributed Tactile Sensors"Proc. the 32nd International Symposium on Robotics (ISR2001). 1243-1248 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Maeno, et al.: "Development of a three-dimensional elastic finger type tactile sensor imitated the human tactile sense mechanism"Proc. Society of Biomechanics SOBIM 2001. 141-144 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] D. Yamada, T. Maeno and Y. Yamada: "Design of Elastic Finger Having Distributed Tactile Sensors underneath Ridges of finger Surface for Controlling Grasping Force"Proc. JSME ROBOMEC '01. No. 01-4. 1A1-C9 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] YAMADA Yoji, et al.: "Highly Soft Viscoelastic Robot Skin with Contact Surface Location Sensing Capability"Proc. the 32nd International Symposium on Robotics (ISR2001). 1237-1242 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Yoji Yamada, Takashi Maeno, et al.: "On The Detection Sensitivity of PVDF Film Transducers as Artificial echanoreceoptors"Proc. RSJ 18th Annual Meeting. Vol. 3. 1005-1006 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Yoji Yamada, et al.: "A Slip Sensors with Surface Ridges Which is Mounted on a Robot Hand Generates High-Frequency Signals for Isolating Slip Phases"Journal of the Society of Instrument and Control Engineers. Vol. 36, No. 6. 473-480 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Y.Yamada, I.Fujimoto, T.Morizono, Y.Umetani, T.Maeno, D.Yamada: "Design and Implementation of Artificial Skin with Mechanoreceptors Using PVDF Films for Static Friction Sensation"Proc. IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems. 251-257 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 山田陽滋, 前野隆司, 藤本勲, 森園哲也, 梅谷陽二: "人工触覚受容器としてのPVDFフィルムトランスデューサによる応力検出特性について"日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集. No.01-4. 1A1-C6 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Daisuke Yamada, Takashi Maeno, Yoji Yamada: "Artificial Finger Skin having Ridges and Distributed Tactile Sensors used for Grasp Force Control"Journal of Robotics and Mechatronics. 14-2(掲載予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] Daisuke Yamada, Takashi Maeno, Yoji Yamada: "Artificial Finger Skin having Ridges and Distributed Tactile Sensors used for Grasp Force Control"Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems. 686-691 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Daisuke Yamada, Yoji Yamada, Takashi Maeno: "Design of an Artificial Finger Skin Having Ridges and Distributed Tactile Sensors"Proc. 32nd International Symposium on Robotics. 1243-1248 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 木村竜司, 内山孝憲, 前野隆司: "把持力制御のための2軸弾性フィンガ型センサの開発"日本機械学会ロボティクス・メカトロニクス講演会'02講演論文集. No.02-6(発表予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] 木村竜司, 前野隆司, 内山孝憲: "ヒトの触覚機構を模倣した3次元弾性フィンガ型センサの開発(有限要素解析によるセンサの形状設計)"第22回バイオメカニズム学術講演会予稿集. 141-144 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 山田大介, 前野隆司, 山田陽滋: "指紋状凸部内部の分布触覚情報検出に基づく把持力制御用弾性フィンガの設計"日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集. No.01-4. 1A1-C9 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 山田陽滋,前野隆司 他: "人工触覚受容器としてのPVDFフィルムトランスデューサによる応力検出特性について"日本機械学会ロボメカ講演会講演論文集. (in press). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] 前野隆司,山田陽滋 他: "指紋状凸部内部の分布触覚情報検出に基づく把持力制御用弾性フィンガの設計"日本機械学会ロボメカ講演会講演論文集. (in press). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] YAMADA Yoji, et.al.: "Highly Soft Viscoelastic Robot Skin with Contact Surface Location Sensing Capability"Proceedings of the 32nd International Symposium on Robotics (ISR2001),Seoul,Korea. (in press). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] Takashi MAENO,Yoji YAMADA, et al.: "Design of Artificial Finger Skin Having Ridges and Distributed Tactile Sensors"Proceedings of the 32nd International Symposium on Robotics (ISR2001),Seoul,Korea. (in press). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] 山田陽滋,前野隆司 他: "人工機械受容器としてのPVDFフィルムの検出感度特性について"第18回日本ロボット学会学術講演会(草津市)予稿集. Vol.3. 1005-1006 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 山田陽滋 他: "ロボットハンドのための指紋を備えた高周波微振動検出式滑り覚センサ"計測自動制御学会論文集. 36・6. 473-480 (2000)

    • Related Report
      2000 Annual Research Report

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Published: 2000-04-01   Modified: 2016-04-21  

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