| Project/Area Number |
15360139
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | KEIO UNIVERSITY |
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Principal Investigator |
MAENO Takashi Keio University, Faculty of Science and Technology, Professor, 理工学部, 助教授 (20276413)
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| Co-Investigator(Kenkyū-buntansha) |
山田 陽滋 独立行政法人産業技術総合研究所, 知能システム部門, 研究グループ長 (90166744)
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| Project Period (FY) |
2003 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥15,100,000 (Direct Cost: ¥15,100,000)
Fiscal Year 2005: ¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 2004: ¥6,000,000 (Direct Cost: ¥6,000,000)
Fiscal Year 2003: ¥6,800,000 (Direct Cost: ¥6,800,000)
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| Keywords | tactile sensation / partial incipient slippage / tactile sensor / tactile display / reflaction / 皮膚 / 把持力制御 / PVDF |
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| Research Abstract |
In the present study, sensing and displaying method of partial incipient slippage is investigated. Partial incipient slippage stands for the slippage between finger pad and object at the outside of the contact area. It occurs when humans grasp and lift the object. We have investigated on the partial incipient slippage from three different ways. First one is to utilize an elastic sensor having curved surface and PVDF films embedded inside to detect the partial incipient slippage. It was succeeded that the sensing and displaying of the partial incipient slippage is performed simultaneously. The second method is to display the partial incipient slippage to humans by use of three separate stimulators made of plane steel. It was clarified that human increase grasping force when partial incipient slippage occurs. The third one is to utilize vibratory stimuli by use of ICPF actuator allay. It is clarified that human increase grasping force when vibratory stimuli with frequency of 30Hz is applied. In conclusion, we have clarified the mechanism of partial incipient slippage detection of humans.
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