| Project/Area Number |
21K14131
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Waseda University |
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Principal Investigator |
Tomo Tito Pradhono 早稲田大学, 次世代ロボット研究機構, 次席研究員(研究院講師) (00844193)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Project Status |
Completed (Fiscal Year 2023)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2022: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2021: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
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| Keywords | stretchable / 3-axis / tactile sensor / tactil / skin / sensor / soft / 3-axis tactile sensor / Stretchable electronics / Robotics |
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| Outline of Research at the Start |
The existing tactile sensors are typically not stretchable, and therefore can not fully cover all robot parts, especially the joints. In this research we suggest to develop them further to the world’s first stretchable 3-axis tactile sensing system.
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| Outline of Final Research Achievements |
In this fiscal year, we have significantly enhanced the durability of the sensor, increasing its stretch lifespan from less than 500 cycles to over 1000 cycles when stretched by 250% of its initial length. This improvement was achieved by stitching copper wires onto a stretchable fabric, allowing for the connection of multiple PCBs. Despite this progress, we encountered a residual strain of 28.4% after more than 1000 cycles, attributed to the elastic nature of the material.
However, amidst this, the sensor proved its capability by successfully measuring 3-axis force while being stretched. This achievement enabled us to integrate the sensor into the Allegro Hand, covering one of its joints.
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| Academic Significance and Societal Importance of the Research Achievements |
Beyond addressing challenges in the super aging society, this sensor holds potential for diverse applications, including the medical field. For instance, it can enhance prosthetic limbs by providing tactile feedback to individuals with disabilities.
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