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Bionic Soft Sensor using Ionic Liquid/Gel and Multi-modal Learning

Research Project

Project/Area Number 19H01122
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Review Section Medium-sized Section 61:Human informatics and related fields
Research InstitutionOsaka University

Principal Investigator

Hosoda Koh  大阪大学, 大学院基礎工学研究科, 教授 (10252610)

Co-Investigator(Kenkyū-buntansha) 川節 拓実  大阪大学, 大学院基礎工学研究科, 助教 (70868330)
吉田 一也  山形大学, 大学院理工学研究科, 助教 (20814221)
古川 英光  山形大学, 大学院理工学研究科, 教授 (50282827)
池本 周平  九州工業大学, 大学院生命体工学研究科, 准教授 (00588353)
Project Period (FY) 2019-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥45,110,000 (Direct Cost: ¥34,700,000、Indirect Cost: ¥10,410,000)
Fiscal Year 2022: ¥11,440,000 (Direct Cost: ¥8,800,000、Indirect Cost: ¥2,640,000)
Fiscal Year 2021: ¥10,660,000 (Direct Cost: ¥8,200,000、Indirect Cost: ¥2,460,000)
Fiscal Year 2020: ¥11,310,000 (Direct Cost: ¥8,700,000、Indirect Cost: ¥2,610,000)
Fiscal Year 2019: ¥11,700,000 (Direct Cost: ¥9,000,000、Indirect Cost: ¥2,700,000)
Keywordsソフトセンサ / 生物模倣 / イオンゲル / 多感覚モダリティ学習
Outline of Research at the Start

本研究では,イオン液体・イオンゲルを媒体としたネットワーク構造を持つ生物模倣ソフトセンサを開発し,多感覚モダリティ間の学習を行うことで,人間と同等の適応性を持つロボットハンドの実現を目的とする.イオン液体・イオンゲルを用いたネットワークは,近年の3次元プリンタ技術を駆使することで実現可能であり,進展に強く壊れにくく,回路が破損した際も,ネットワークに圧力をかけることで自律的に再構成し,治癒する.このような生物型ネットワークセンサを開発し,構造がもたらす多感覚モダリティを学習する方法を提案,人間と同等の適応性を持つロボットハンドを実現する.

Outline of Final Research Achievements

outline of the reaerch achiWe demonstrate that it is possible to measure channel deformation from resistance and impedance by creating a network structure of ionic liquid or printed ionic gel flowing in a microchannel in a soft finger. We propose a method to ensure a stable electrical connection between the liquid/gel and the electrode. We also fabricate a double-network gel by combining two types of polymeric materials to increase the strength of the gel. We develop a whisker sensor that measures the interaction with the outside by embedding a whisker in silicon and measuring the deformation of the channel. We show experimentally that by utilizing two channels embedded at different depths, it is possible to estimate not only the pressure caused by external forces but also the area where the pressure is pressing.evements

Academic Significance and Societal Importance of the Research Achievements

柔らかいロボットの身体の内部に,イオン液体やイオンゲルのネットワーク構造を埋め込み,その抵抗値やインピーダンスから外部からの刺激を計測できれば,破断や故障に強いネットワークセンサを作ることができる.そのための基礎的工学的知見が多く集まっている.このような柔らかい身体の内部にセンサを埋め込むという考え方は,生物の神経ネットワークとの形状的な類似点があり,自己運動による刺激か,外部刺激かを区別することができないという本質的な問題点がある.このような人間の体性感覚を模したセンサを開発,運用することでロボットの新しいタイプの知覚だけでなく,人間の物体把持に関する新しい知見を見つけることが期待できる.

Report

(6 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • 2019 Comments on the Screening Results   Annual Research Report
  • Research Products

    (33 results)

All 2023 2022 2021 2020 2019

All Journal Article (6 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 6 results,  Open Access: 5 results) Presentation (24 results) (of which Int'l Joint Research: 9 results,  Invited: 9 results) Book (3 results)

  • [Journal Article] Soft Tactile Sensors Having Two Channels With Different Slopes for Contact Position and Pressure Estimation2023

    • Author(s)
      Ohashi Hirono、Yasuda Takuto、Kawasetsu Takumi、Hosoda Koh
    • Journal Title

      IEEE Sensors Letters

      Volume: (in press) Issue: 5 Pages: 1-4

    • DOI

      10.1109/lsens.2023.3268888

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Dynamic Model Identification for Insect Electroantennogram with Printed Electrode2021

    • Author(s)
      Yamada Naoki、Ohashi Hirono、Umedachi Takuya、Shimizu Masahiro、Hosoda Koh、Shigaki Shunsuke
    • Journal Title

      Sensors and Materials

      Volume: 33 Issue: 12 Pages: 4173

    • DOI

      10.18494/SAM.2021.3116

    • ISSN
      0914-4935, 2435-0869
    • Year and Date
      2021-12-20
    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Soft capacitive tactile sensor using displacement of air?water interface2021

    • Author(s)
      Usui Tatsuya、Ishizuka Hiroki、Kawasetsu Takumi、Hosoda Koh、Ikeda Sei、Oshiro Osamu
    • Journal Title

      Sensors and Actuators A: Physical

      Volume: 332 Pages: 113133-113133

    • DOI

      10.1016/j.sna.2021.113133

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Fully 3D-Printed Hydrogel Actuator for Jellyfish Soft Robots2021

    • Author(s)
      Takishima Yuki、Yoshida Kazunari、Khosla Ajit、Kawakami Masaru、Furukawa Hidemitsu
    • Journal Title

      ECS Journal of Solid State Science and Technology

      Volume: 10 Issue: 3 Pages: 037002-037002

    • DOI

      10.1149/2162-8777/abea5f

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Soft Inductive Tactile Sensor Using Flow-Channel Enclosing Liquid Metal2020

    • Author(s)
      Shota Hamaguchi, Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Ryuma Niiyama, Koh Hosoda, and Minoru Asada
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 5(3) Issue: 3 Pages: 4028-4034

    • DOI

      10.1109/lra.2020.2985573

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Very Wide Sensing Range and Hysteresis Behaviors of Tactile Sensor Developed by Embedding Soft Ionic Gels in Soft Silicone Elastomers2020

    • Author(s)
      Hara Yuta、Yoshida Kazunari、Khosla Ajit、Kawakami Masaru、Hosoda Koh、Furukawa Hidemitsu
    • Journal Title

      ECS Journal of Solid State Science and Technology

      Volume: 9 Issue: 6 Pages: 061024-061024

    • DOI

      10.1149/2162-8777/aba913

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Presentation] 3次元的な流路を有するイオン液体触覚センサの応答特性調査2022

    • Author(s)
      久木佑真,川節拓実,大橋ひろ乃,細田耕
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] イオン液体含有ゲルの高強度化2022

    • Author(s)
      三浦天晴, 川節拓実, 細田耕, 古川英光, 吉田一也
    • Organizer
      化学工学会 第53回秋季大会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 圧力と接触位置特定のためのイオンゲル触覚センサの開発2021

    • Author(s)
      安田匠利,大橋ひろ乃,川節拓実,細田耕
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 光学式触覚センサとエコーステートネットワークによる物体認識2021

    • Author(s)
      小菅佑太,川節拓実,田向権,細田耕
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 柔軟接触センサを搭載したロボットハンドを用いたアクティブセンシングによる物体認識2021

    • Author(s)
      徳野将士,田中悠一朗,川節拓実,細田耕,田向権
    • Organizer
      日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 導電性流体を用いたソフトロボット選択システム2021

    • Author(s)
      橋本雄紀,石塚裕己,川節拓実,池田聖,大城理
    • Organizer
      計測自動制御学会 システムインテグレーション部門講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] イオンゲルひずみゲージを利用したヒゲセンサの開発2020

    • Author(s)
      鎌田直,大原賢一朗,原祐太,吉田一也,古川英光,細田耕
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 柔軟触覚センサを搭載したロボットハンドによる触覚情報からの物体認識2020

    • Author(s)
      徳野将士,田中悠一朗,川節拓実,細田耕,田向権
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] Object Recognition Using Flexible Tactile Sensor2020

    • Author(s)
      Shoshi Tokuno, Yuichiro Tanaka, Takumi Kawasetsu, Koh Hosoda, Hakaru Tamukoh
    • Organizer
      Asia Pacific Conference on Robot IoT System Development and Platform 2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Soft Tactile Sensor Detecting Air-Water Interface2020

    • Author(s)
      Tatsuya Usui, Hiroki Ishizuka, Takumi Kawasetsu, Koh Hosoda, Sei Ikeda, Osamu Oshiro
    • Organizer
      IEEE Sensors Conference
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Soft Inductive Tactile Sensor Using Flow-Channel Enclosing Liquid Metal2020

    • Author(s)
      Shota Hamaguchi, Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Ryuma Niiyama, Koh Hosoda, and Minoru Asada
    • Organizer
      IEEE International Conference on Soft Robotics
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 3次元形状ソフト接触センサーの圧縮応答評価2020

    • Author(s)
      原 祐太,吉田 一也,大原賢一朗,細田耕,川上 勝,古川 英光
    • Organizer
      日本機械学会東北支部 第55期総会・講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] イオンゲルひずみゲージを利用したヒゲセンサの開発2020

    • Author(s)
      鎌田直,大原賢一郎,原佑太,吉田一也,古川英光,細田耕
    • Organizer
      本機械学会ロボティクス・メカトロニクス部門講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] Tactile Sensing based on Time Difference of Pressure Wave Arrival for Inflatable Robots2020

    • Author(s)
      Shuhei Ikemoto
    • Organizer
      ICRA2020 workshop on Unconventional Sensors in Robotics: Perception for Online Learning Adaptive Behavior and Cognition
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 柔らかヒューマノイド2020

    • Author(s)
      細田耕
    • Organizer
      日本ロボット学会ヒューマンセントリックロボティクス研究専門委員会 第十二回若手研究会
    • Related Report
      2019 Annual Research Report
    • Invited
  • [Presentation] 開かれた知能2020

    • Author(s)
      細田耕
    • Organizer
      日本ロボット学会開かれた知能研究専門委員会研究会
    • Related Report
      2019 Annual Research Report
    • Invited
  • [Presentation] ソフト体性感覚受容2020

    • Author(s)
      細田耕
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門東北地区特別講演会
    • Related Report
      2019 Annual Research Report
    • Invited
  • [Presentation] Development of Touch Sensor Using Ion Gel2019

    • Author(s)
      Yuta Hara, Kazunari Yoshida, Kumkum Ahmed, Ajit Khosla, Masaru Kawakami, and Hidemitsu Furukawa
    • Organizer
      36th ECS Meeting
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 3次元造形可能ソフト材料を用いた接触センサーの開発2019

    • Author(s)
      原 祐太,吉田 一也,Ahmed Kumkum,川上 勝,古川 英光
    • Organizer
      第68回高分子討論会
    • Related Report
      2019 Annual Research Report
  • [Presentation] Morphological Computation by Human-like Muscular-Skeletal Structure2019

    • Author(s)
      Koh Hosoda
    • Organizer
      RoboSoft 2019 Workshop on Morphological Computation Through Physical Adaptation of Soft Robots
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Dynamic Locomotion with Compliant Muscular-Skeletal Structure2019

    • Author(s)
      Koh Hosoda
    • Organizer
      2019 IEEE International Conference on Soft Robotics (RoboSoft)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Object Categorization by Haptic Exploration2019

    • Author(s)
      Koh Hosoda
    • Organizer
      京都大学RMS研究会
    • Related Report
      2019 Annual Research Report
    • Invited
  • [Presentation] Soft Body as Source of Ingelligence2019

    • Author(s)
      Koh Hosoda
    • Organizer
      Living Machines Conference 2019
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Soft Humanoid Robotics2019

    • Author(s)
      Koh Hosoda
    • Organizer
      International Symposium on Machine Intelligence for Future Society 2019
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research / Invited
  • [Book] 月刊科学,特集「構成論的手法による人間理解」柔らかいロボットと体性感覚2023

    • Author(s)
      細田耕
    • Publisher
      岩波書店
    • Related Report
      2022 Annual Research Report
  • [Book] イオン流体の実用展開へ向けた最新動向 16.2 イオン流体ゲルを用いたセンサーの開発と3Dプリンティングへの展開2022

    • Author(s)
      小林竜也,渡邉洋輔,古川英光,吉田一也,細田耕
    • Publisher
      シーエムシー出版
    • Related Report
      2022 Annual Research Report
  • [Book] 実践 ロボット制御2019

    • Author(s)
      細田 耕、株式会社アールティ
    • Total Pages
      208
    • Publisher
      オーム社
    • ISBN
      9784274224300
    • Related Report
      2019 Annual Research Report

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Published: 2019-04-18   Modified: 2024-01-30  

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