| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2019: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2017: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Outline of Final Research Achievements |
We have developed a tactile sensor with a multi-layer structure that can be mounted inside a flexible skin, and established a mounting method mainly for robot finger mechanism. The tactile sensor can estimate the load in the normal and tangential directions by using a structure in which two sheets of a tactile sensor of the center-of-pressure (CoP) detection method are embedded in layers inside a silicone rubber coating. Furthermore, we have developed a structure that can obtain the CoP information useful for control and pressure distribution information useful for object recognition, by replacing one layer or both layers with a sensor sheet that can obtain pressure distribution by scanning. We also developed a tendon-driven mechanism that embeds a tactile sensor in a flexible robot finger mechanism to generate reflexive motion.
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