Tactile sensors using reflection image

• Project/Area Number: 19860012
• Research Category: Grant-in-Aid for Young Scientists (Start-up)
• Allocation Type: Single-year Grants
• Research Field: Measurement engineering
• Research Institution: Tohoku University
• Principal Investigator: SAGA Satoshi Tohoku University, 大学院・情報科学研究科, 助教 (10451535)
• Project Period (FY): 2007 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥3,115,000 (Direct Cost: ¥2,710,000、Indirect Cost: ¥405,000); Fiscal Year 2008: ¥1,755,000 (Direct Cost: ¥1,350,000、Indirect Cost: ¥405,000); Fiscal Year 2007: ¥1,360,000 (Direct Cost: ¥1,360,000)
• Keywords: 触覚センサ / 光てこ / 反射像 / 高速センシング

Research Abstract

はじめに, センサの構成については, 硬軟2層の構造にすることにより, シミュレーションおよび実験を通じて角度変位を拡大可能なことを明らかにした. また, センサの高速化のため, 他デバイスの組み合わせとしてLED(Light Emission Diode),PD(Photo Diode)を用いたシステムを試作し, LEDを用いたときの光学的特性を実測に基づき解析した. 500 Hz 程度の振動の測定ができること, 測定対象の粗さと信号の分散と相関があることを明らかにした. そして, 微小変位の検出可能性を探るシミュレーションなどを通じて, 本センサと人間の皮膚の特性が類似していることを明らかにした.

Research Products

• [Presentation] 反射型触覚センサの静的特性評価と毛状触覚センサの提案 (2008)
  • Author(s): 嵯峨智
  • Organizer: 第8回SICEシステムインテグレーション部門講演会
  • Place of Presentation: 岐阜
  • Year and Date: 2008-12-07
• [Presentation] 反射像を用いた触覚センサにおける微少変位の検出 (2008)
  • Author(s): 嵯峨智, 昆陽雅司, 出口光一郎
  • Organizer: In日本バーチャルリアリティ学会第13回大会論文集
  • Place of Presentation: 奈良
  • Year and Date: 2008-09-25
• [Presentation] 反射像を用いた触覚センサにおける微少変位の検出 (2008)
  • Author(s): 嵯峨智
  • Organizer: 日本バーチャルリアリティ学会第13回大会
  • Place of Presentation: 奈良
  • Year and Date: 2008-09-25
• [Presentation] Satoshi Tadokoro and Susumu Tachi. Dynamic conditions of reflection-type tactile sensor. In Haptics : Perception, Devices and Scenarios (2008)
  • Author(s): Satoshi Saga, Satoshi Tadokoro, Susumu Tachi
  • Organizer: Proceedings of 6th International Conference, EuroHaptics 2008
  • Place of Presentation: Madrid, Spain(464-473)
  • Year and Date: 2008-06-13
• [Presentation] Dynamic conditions of reflection-type tactile sensor (2008)
  • Author(s): Satoshi Saga
  • Organizer: 6th International Conference, EuroHapti cs 2008
  • Place of Presentation: Madrid, Spain
  • Year and Date: 2008-06-13
• [Presentation] 反射型触覚センサの動的特性評価 (2008)
  • Author(s): 嵯峨智, 田所諭, 舘〓
  • Organizer: In Proceedings of the 2008 JSME Conference on Robotics and Mechatronics
  • Place of Presentation: 長野(1A1-H08)
  • Year and Date: 2008-06-06
• [Presentation] 反射型触覚センサの動的特性評価 (2008)
  • Author(s): 嵯峨智
  • Organizer: the 2008 JSME Conference on Robotics and Mechatronics
  • Place of Presentation: 長野
  • Year and Date: 2008-06-06
• [Presentation] 反射型触覚センサの静的特性評価と毛状触覚センサの提案 (2007)
  • Author(s): 嵯峨 智
  • Organizer: 第8回 SICEシステムインテグレーション部門 講演会
  • Place of Presentation: 広島,日本
  • Year and Date: 2007-12-21
• [Presentation] 反射型触覚センサの静的特性評価と毛状触覚センサの提案 (2007)
  • Author(s): 嵯峨智, 田所諭, 舘〓
  • Organizer: In第8回SICEシステムインテグレーション部門 講演会論文集
  • Place of Presentation: 岐阜(497-498)
  • Year and Date: 2007-12-07
• [Presentation] 反射像を利用した触覚センサの高速化 (2007)
  • Author(s): 嵯峨智, 田所諭
  • Organizer: In日本バーチャルリアリティ学会第12回大会予稿集
  • Place of Presentation: 福岡(87-190)
  • Year and Date: 2007-09-19
• [Presentation] 反射像を利用した触覚センサの高速化 (2007)
  • Author(s): 嵯峨 智
  • Organizer: 日本バーチャルリアリティ学会第12回大会予稿集
  • Place of Presentation: 福岡,日本
  • Year and Date: 2007-09-19
• [Presentation] Fibratus tactile sensor using reflection on an optical lever (2007)
  • Author(s): Satoshi Saga, Shinobu Kuroki, Naoki Kawakami, Susumu Tachi
  • Organizer: In Conference Abstracts and Applications of SIGGRAPH2007
  • Place of Presentation: San Diego, America
  • Year and Date: 2007-08-06
• [Presentation] Fibratus tactile sensor using reflection on an optical lever (2007)
  • Author(s): Satoshi Saga
  • Organizer: Int. Conf. On Computer Graphics and Interactive Techniques(SIGGRAPH2007)
  • Place of Presentation: San Diego, USA.
  • Year and Date: 2007-08-05
• [Presentation] Fibratus tactile sensor using reflection image -The requirements of fibratus tactile sensor- (2007)
  • Author(s): Satoshi Saga, Shinobu Kuroki & Susumu Tachi
  • Organizer: In Proceedings of 16th International Symposium on Measurement and Control in Robotics
  • Place of Presentation: Warsaw, Poland
  • Year and Date: 2007-06-22
• [Presentation] Fibratus tactile sensor using reflection image -The requirements of fibratus tactile sensor- (2007)
  • Author(s): Satoshi Saga
  • Organizer: 16th International Symposium on Measurement and Control in Robotics
  • Place of Presentation: Warsaw, Poland
  • Year and Date: 2007-06-22
• [Presentation] 反射像を用いた毛状触覚センサ (2007)
  • Author(s): 嵯峨智, 黒木忍, 舘〓
  • Organizer: In Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
  • Place of Presentation: 秋田
  • Year and Date: 2007-05-11
• [Presentation] 反射像を利用した毛状触覚センサ (2007)
  • Author(s): 嵯峨 智, 黒木 忍, 舘 〓.
  • Organizer: the 2007 JSME Conference on Robotics and Mechatronics
  • Place of Presentation: 秋田,日本
  • Year and Date: 2007-05-11
• [Book] Vedran Kordic. Sensors, Focus on Tactile, Force and Stress Sensors (2008)
  • Author(s): Satoshi Saga
  • Publisher: Ch. 1 IN-TECH
• [Book] Sensors, Focus on Tactile, Force and Stress Sensors (2008)
  • Author(s): Satoshi Saga, et.al.
  • Total Pages: 444
  • Publisher: IN-TECH
• [Remarks]
  • URL: http://www.fractal.is.tohoku.ac.jp/2008/04/01_173147.html
• [Remarks]
  • URL: http://www.fractaLis.tohoku.ac.jp/2008/04/01_173147.html
• [Remarks]
  • URL: http://www.rm.is.tohoku.ac.jp/index.php?Member%2FSatoshi%20Saga%2FResearches%2FRefShape