| Project/Area Number |
15K13905
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Toyo University (2016-2017)
The University of Tokyo (2015) |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Keywords | 摩擦係数 / 圧力センサ / せん断力センサ / 局所滑り |
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| Outline of Final Research Achievements |
In this research, in order to measure slipperiness of objects, a local slip generation mechanism using a soft elastic material was studied. By combining this mechanism with a 3-axial tactile sensor for pressure and shear forces in two directions, friction coefficient sensors that measure the friction coefficient of the contact surface in 2-axial directions were proposed. A friction coefficient sensor with fine structures of nylon tegus and that with an elastic bump were developed, and by these sensors, detection capability of friction coefficient was confirmed. As detection mechanism with nonlinear sensitivity characteristics, a cantilever structure with variable rigidity controlled by Lorentz force was evaluated. For further applications, a foot structure for robots and a tire for cars that can detect friction coefficient and slip with road surface were developed.
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