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Development of a tactile sensor system and an integration of the sensor information with a vision chip

Research Project

Project/Area Number 16300052
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionThe University of Electro-Communications

Principal Investigator

SHIMOJO Makoto  The University of Electro-Communications, Faculty of Electro-Communications, Professor, 電気通信学部, 教授 (90292474)

Co-Investigator(Kenkyū-buntansha) TAKASE Kunikatsu  The University of Electro-Communications, Graduate School of Information Systems, Professor, 大学院情報システム学研究科, 教授 (10270927)
ISHIKAWA Masatoshi  University of Tokyo, Graduate School of Information Science and Technology, Professor, 大学院情報理工学系研究科, 教授 (40212857)
金森 克彦  PCRテクニカル, 代表(研究職)
Project Period (FY) 2004 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥12,100,000 (Direct Cost: ¥12,100,000)
Fiscal Year 2006: ¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 2005: ¥4,400,000 (Direct Cost: ¥4,400,000)
Fiscal Year 2004: ¥5,100,000 (Direct Cost: ¥5,100,000)
Keywordstactile sensor / pressure sensitive material / pressure conductive rubber / tactile LSI / slip sensor / tangential force sensor / 多軸力センサ / 抵抗回路網 / 液状硬化型感圧素材 / モールド成形方法
Research Abstract

In this program, research and development of the tactile sensor which can be mounted on the curved surface, and can detect normal and tangential force, and can also solve the wiring problem were done. And also the tactile information processing chip which can perform local information processing was developed. Moreover, in order to make it the same interface system as the already developed vision chip, research and development in such a sensor integrated processing system was proposed. Results are shown below.
(1)Since the developed sensing material is a liquid type, it can form thin pressure-sensitive rubber membrane also in the complicated form surface. It is possible to cover the whole body only using a robot's surface.
(2)The sensor which can detect not only the normal force direction but also tangential force direction was developed, and, thereby, detection of the slip was attained.
(3)In order to solve processing of tactile sense information, and many wiring problems, a LSI for tactile sense information processing was developed.
(4)For the purpose of making the same the interface of a vision chip and a tactile sense chip, the research about an interface system with a tactile sense chip were proposed.
As the results, the external world recognition by the contact situation of the robot body with a sensitive skin which covers a robot's whole body is attained. Moreover, the application to advanced robot control, such as grip control by detection of a slip and motion control by a contact condition, are expected.

Report

(4 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • Research Products

    (16 results)

All 2006 2005 2004

All Journal Article (15 results) Book (1 results)

  • [Journal Article] 材質感呈示システムに関する研究-触覚による布地材質感の呈示-2006

    • Author(s)
      小川博教, 下条誠
    • Journal Title

      電子情報通信学会論文誌,D J89-D,2

      Pages: 353-361

    • NAID

      10013959796

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of 2-DOF Haptics Device Driven Directly by Shaft Moters2006

    • Author(s)
      H.Ogawa, M.Shimojo
    • Journal Title

      J. Robotics and Mechatronics 18,4

      Pages: 392-400

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of Objects texture presentation -Cloth texture presentation by tactile information-2006

    • Author(s)
      H.Ogawa, M.Shimojo
    • Journal Title

      The IEICE Tans. on Information and Systems Vol.J89-D, No.2

      Pages: 353-361

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of 2-DOF Haptics Device Driven Directly by Shaft Moter2006

    • Author(s)
      H.Ogawa, M.Shimojo
    • Journal Title

      J.Robotics and Mechatronics Vol.18, No.4

      Pages: 392-400

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 材質感呈示システムに関する研究-触覚による布地材質感の呈示-2006

    • Author(s)
      小川博教, 下条誠
    • Journal Title

      電子情報通信学会論文誌, D K89-D,2

      Pages: 353-361

    • NAID

      10013959796

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Development of2-DOF Haptics Device Driven Directly by Shaft Moters2006

    • Author(s)
      H.Ogawa, M.Shimojo
    • Journal Title

      J. Robotic and Mechatronics 18,4

      Pages: 392-400

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 材質感呈示システムに関する研究-触覚による布地材質感の呈示2006

    • Author(s)
      小川博教, 下条誠
    • Journal Title

      電子情報通信学会論文誌 Vol.J89-D, No.2

      Pages: 353-361

    • NAID

      10013959796

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Development of Hybrid Joints for the Compliant Arm of Hyman-Symbiotic Mibile Manipulator2005

    • Author(s)
      Z.Li, A.Ming, N.Xi, J.Gu, M.Shimojo
    • Journal Title

      International Journal of Robotics & Automation Vol.20, No.4

      Pages: 260-270

    • Related Report
      2005 Annual Research Report
  • [Journal Article] A Rotary Encoder Based on Magneto-Optical Storage2005

    • Author(s)
      Tobita, K, Ohira, T, Kajitani, M, Kanamori, C, Shimojo, M, Ming, A
    • Journal Title

      IEEE/ASME Transactions on Mechatronics 10.1

      Pages: 87-97

    • Related Report
      2004 Annual Research Report
  • [Journal Article] A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method2004

    • Author(s)
      M.Shimojo, A.Namiki, M.Ishikawa, R.Makino, K.Mabuchi
    • Journal Title

      IEEE Trans. Sensors 5,4

      Pages: 589-596

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 高速応答が可能な可搬型ハプティクスディスプレイの開発2004

    • Author(s)
      下条誠, 仁木亨
    • Journal Title

      電子情報通信学会論文誌 D-II J87-D-II,5

      Pages: 1133-1141

    • NAID

      110003171102

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method2004

    • Author(s)
      M.Shimojo, A.Namiki, M.Ishikawa, R.Makino, K.Mabuchi
    • Journal Title

      IEEE Trans.Sensors vol.5, no.4

      Pages: 589-596

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of a compact and fast-response haptics display system,2004

    • Author(s)
      Shimojo, M., Niki, T.
    • Journal Title

      The IEICE Tans. on Information and Systems Vol.J87-D-II, No.5

      Pages: 1133-1141

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 高速応答が可能な可搬型ハプティクスディスプレイの開発2004

    • Author(s)
      下条誠, 仁木亨
    • Journal Title

      電子情報通信学会論文誌D-II J87-D-II, 5

      Pages: 1131-1141

    • NAID

      110003171102

    • Related Report
      2004 Annual Research Report
  • [Journal Article] A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method2004

    • Author(s)
      M.Shimojo, A.Namiki, M.Ishikawa, R.Makino, K.Mabuchi
    • Journal Title

      IEEE Transactions on Sensors 4.5

      Pages: 589-596

    • Related Report
      2004 Annual Research Report
  • [Book] ロボット工学ハンドブック2005

    • Author(s)
      下条誠(共同執筆)
    • Publisher
      コロナ社
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary

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Published: 2004-04-01   Modified: 2016-04-21  

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