| Project/Area Number |
15K21443
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
Intelligent robotics
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| Research Institution | Waseda University |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2018-03-31
|
| Project Status |
Completed (Fiscal Year 2017)
|
| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2016: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Keywords | Tactile Sensor / Force Sensor / F/T sensors / F/T Sensors |
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| Outline of Final Research Achievements |
We developed tactile sensors based on capacitive and Hall effect sensing, and implemented them in robot hands. The main novelty is that the skin sensors enable 3-axis force sensing (x,y,z force) in a small and soft form factor. Moreover, capacitive 6-axis force-torque sensors were implemented. All sensors require a minimum number of wires for ease of integration. Furthermore, we performed research on in-hand manipulation.
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