Development of CMC artificial skin with human-skin`s sensitivity and the application to humanoid robot

• Project/Area Number: 19360314
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Structural/Functional materials
• Research Institution: Gifu University
• Principal Investigator: MOTOJIMA Seiji Gifu University, 工学部, 特任教授 (80021608)
• Co-Investigator(Kenkyū-buntansha): 夏原 大宗 岐阜大学, 産官学融合センター, 研究員 (30444334) ; 陳 秀琴 岐阜大学, 工学部, 産官学連携研究員 (30402217)
• Project Period (FY): 2007 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥19,370,000 (Direct Cost: ¥14,900,000、Indirect Cost: ¥4,470,000); Fiscal Year 2008: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000); Fiscal Year 2007: ¥14,170,000 (Direct Cost: ¥10,900,000、Indirect Cost: ¥3,270,000)
• Keywords: カーボンマイクロコイル / 触覚センサ / 近接・接近センサ / 近接センサ / 超弾力性コイル

Research Abstract

(1) 弾力性カーボンマイクロコイル(CMC)の大量合成条件を確立した。(2)CMC触覚センサ素子の設計、試作、素子の最適作製条件の確立、及び特性評価を行った。(3)CMC近接センサ素子の設計、試作、素子の最適作製条件の確立、特性評価を行った。(4)CMC触覚・近接複合センサ素子作製の最適条件を明らかにした。(5)CMC触覚・近接複合センサ素子をロボット表面に装着し、動作を確認した。

Research Products

• [Journal Article] Characteristics and application of CMC sensors in robotic medical and autonomous systems (2008)
  • Author(s): X. Chen, S. Yang, H. Natuhara, K. Kawabe, T. Takemitu and S. Motojima
  • Journal Title: Sensors & Transducers J., 90(special issue) Pages: 1-10
  • Peer Reviewed
• [Journal Article] Characteristics and application of CMC sensors in robotic medical and autonomous systems (2008)
  • Author(s): X. Chen, S. Yang, H. Natuhara, K. Kawabe, T. Takemitu, S. Motojima
  • Journal Title: Sensors & Transducers J., 90(special issue) Pages: 1-10
  • Peer Reviewed
• [Journal Article] The design and performance of tactile/proximity sensors made of carbon microcoils (2008)
  • Author(s): X. Chen, S. Yang, N. Sawada, S. Motojima
  • Journal Title: Smart Sensors and Sensing Technology, (Eds. S. C. Mukhopadhgang and G. S. Gupta, Springer) Pages: 251-261
  • Peer Reviewed
• [Journal Article] Preparation of single-helix carbon microcoils by catalytic CVD process (2008)
  • Author(s): S. Yang, I. Ozeki, X. Chen, T. Katsuno, S. Motojima
  • Journal Title: Thin Solid Films 516(5) Pages: 718-721
  • Peer Reviewed
• [Journal Article] Application of CMC sensors in medical robotics autonomous system (2007)
  • Author(s): X. Chen, S. Yang, H. Natuhara, K. Kawabe, T. Takemitu and S. Motojima
  • Journal Title: IEEE, The Fourth International Conference on Computational Intelligence, Robotics and Autonomous Systems
  • Peer Reviewed
• [Journal Article] Novel tactile/proximity sensors made of vapor grown carbon microcoils(CMCs) (2007)
  • Author(s): X. Chen, S Yang, H. Natuhara, T. Sekine and S. Motojima
  • Journal Title: IEEE, The Second International Conference on Sensing Technology
  • Peer Reviewed
• [Journal Article] Grafting of polymers onto carbon microcoil surface by ligand-exchange reaction of ferrocene moieties of polymer with polycondensed aromatic rigands of the surface (2007)
  • Author(s): H. Morihashi, Y. Nishida, Y. Takahashi, K. Fujiki, T. Yamauchi, N. Tsubokawa and S. Motojima
  • Journal Title: Polymer J. 39 Pages: 175-180
  • Peer Reviewed
• [Journal Article] Effect of compressive and tensile strains on the electrical resistivity of carbon microcoil/silicone-rubber composites (2007)
  • Author(s): K. Yoshimura, K. Nakano, T. Miyake, Y. Hishikawa, C. Kuzuya, T. Katsuno, S. Motojima
  • Journal Title: Carbon 45(10) Pages: 1997-2003
  • Peer Reviewed
• [Journal Article] Influence of CVD conditions on the growth of carbon microcoils with circular cross-sections (2007)
  • Author(s): X. Chen, S. Yang, Y. Kato and S. Motojima
  • Journal Title: Mater Lett. 61(14-15) Pages: 2900-2903
  • Peer Reviewed
• [Journal Article] CMC/ポリシリコーン複合体の近接センサ特性に及ぼす温度及び湿度の影響
  • Author(s): 大橋幸治、元島栖二
  • Journal Title: 材料技術 (印刷中)
  • Peer Reviewed
• [Journal Article] The design and performance of tactile/proximity sensors made of carbon microcoils
  • Author(s): X. Chen, S. Yang, N.Sawada and S. Motojima, Smart Sensors and Sensing Technology, Eds. S.C. Mukhopadhgang and G.S. Gupta
  • Journal Title: Springer 2008 Pages: 251-261
  • Peer Reviewed
• [Presentation] Development of CMC artificial skin to be used in robotics (2009)
  • Author(s): Shaoming Yang, Xiugin Chen, Seiji Motojima
  • Organizer: BMMB-9
  • Place of Presentation: 名古屋
  • Year and Date: 2009-01-26
• [Presentation] Development of CMC artificial skin to be used in robotics (2009)
  • Author(s): Shaoming Yang, Xiuqin Chen, Seiji Motojima
  • Organizer: BMMB-9
  • Place of Presentation: Nagoya, Japan
• [Presentation] 人間感覚を持つロボット用CMC 弾力性樹脂製人工皮膚の開発 (2008)
  • Author(s): 楊少明, 陳秀琴, 大橋幸治, 鯖戸梨沙, 澤田 徳樹, 元島栖二
  • Organizer: 材料技術研究協会討論会-2008
  • Place of Presentation: 千葉
• [Presentation] Synthesis and Morphology of Carbon Microcoils Produced from Methane, S (2008)
  • Author(s): Yang, X. Chen and S. Motojima
  • Organizer: Carbon 2008
  • Place of Presentation: Nagano, Japan
• [Presentation] Novel Tactile/Proximity Sensing Properties of Carbon Microcoils (2008)
  • Author(s): X. Chen, S. Yang, I. Ozeki, S. Motojima, H. Sakai and M. Abe
  • Organizer: Carbon 2008
  • Place of Presentation: Nagano, Japan
• [Presentation] CMC近接センシング特性に及ぼす外部環境因子の影響 (2007)
  • Author(s): 大橋幸治、夏原大宗、勝野高志、河辺憲次、楊 少明、元島栖二
  • Organizer: 第38回中部化学関係学協会支部連合秋季大会
  • Place of Presentation: 三重大学
  • Year and Date: 2007-11-10
• [Book] 「ナノカーボンハンドブック(Handbook of Nano Carbon)」(分担執筆、エヌ・ティー・エス ) (2007)
  • Author(s): 元島栖二、陳 秀琴
  • Publisher: カーボンマイクロコイル(CMC)を用いた高感度触角・近接センサー
• [Book] ナノカーボンハンドブック(Handbook of Nano Carbon) (2007)
  • Author(s): 元島栖二、陳 秀琴
  • Publisher: エヌ・ティー・エス
• [Remarks] Application of CMC sensors in medical robotics autonomous system" 、 X. Chen, S. Yang, H. Natuhara, K. Kawabe, T. Takemitu and S. Motojima、CIRAS 2007 Best Poster賞(2007/11/28-30)
• [Remarks] カーボンマイクロコイル(CMC)を用いた触覚・近接センサー、先端医療器具及び人工皮膚の開発"、元島栖二, 楊 少明, 陳 秀琴, 夏原大宗, 岐阜大学テクノフェア2007 優秀出展賞(2007/9/25)
• [Remarks] カーボンマイクロコイル(CMC)の開発", 陳 秀琴, 材料技術研究協会論文賞(2007/4/14)
• [Remarks] 1) ハノーバーメッセ( 2008/4/21-25, ドイツ)内容 : 講演及び展示・説明(ポスター、バルクCMC, 触覚・近接センサ素子)
• [Remarks] 2) CMC 触覚センサーの応用、モノづくり岐阜テクノフェアー(2007/10/12-13, 岐阜)
• [Remarks]
  • URL: http://apchem.gifu-u.ac.jp/~polymer2