Development of a Distributed Stretchable 3-axis Sensing System
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 |
Review Section |
Basic Section 20020:Robotics and intelligent system-related
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Research Institution | Waseda University |
Principal Investigator |
トモ ティト・プラドノ 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 |
Granted (Fiscal Year 2022)
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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 / tactil / skin / sensor / soft / tactile sensor / 3-axis tactile sensor / Stretchable electronics / Robotics |
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 Annual Research Achievements |
In FY2022, we improved the performance of a stretchable 3-axis skin sensor by replacing the silver pastes and meander patterns used in the previous version with coiled copper wires.
Our findings showed that this modification resulted in a significant increase in the maximum stretching ratio of the sensor from 150% to 250%. Furthermore, the resistance of the wires did not change significantly even after several hundred stretching cycles, allowing for stable I2C digital communication. However, we also observed that the coiled copper wires were prone to breakage after around 200 stretching cycles. Based on these findings, we identified the need to focus on improving the robustness of the sensor, which remains a significant challenge.
These results were presented at the SI2022 Conference.
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Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
Initially, we had planned to integrate the stretchable 3-axis skin sensor developed in FY2021 into a robot in FY2022. However, due to the issue with the sensor's robustness, we had to redevelop it in FY2022. Despite this setback, our results showed a significant improvement in the sensor's performance compared to the FY2021 version. This is promising and suggests that a robust sensor can be achieved by enhancing the manufacturing process.
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Strategy for Future Research Activity |
In the coming year, FY2023, our primary focus will be to enhance the robustness of the stretchable 3-axis skin sensor. Our aim is to develop a sensor that can withstand thousands of stretching cycles without compromising its sensing capabilities.
To achieve this goal, we have devised a plan to replace the coiled copper wires with a conductive thread. Additionally, we will use elastic fabric instead of silicone rubber, which we will sew using a sewing machine. This updated version of the sensor will undergo evaluation similar to the method used in FY2022 to assess its performance.
By implementing these modifications, we aim to increase the lifespan of the sensor and improve its reliability, making it a more practical to cover robot joints.
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Report
(2 results)
Research Products
(6 results)
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[Presentation] Participatory Design and Early Deployment of DarumaTO-3 Social Robot2022
Author(s)
Zhihao Shen, Nanaka Urano, Chih-Pu Chen, Shi Feng, Scean Mitchell, Masao Katagiri, Yegang Du, Franco Pariasca Trevejo, Tito P Tomo, Alexander Schmitz, Ryan Browne, Toshimi Ogawa, Yasuyuki Taki, Gabriele Trovato
Organizer
ICSR 2022
Related Report
Int'l Joint Research
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[Presentation] Detection of Slip from Vision and Touch2022
Author(s)
Yan, G., Schmitz, A., Tomo, T. P., Somlor, S., Funabashi, S., Sugano, S.
Organizer
IEEE International Conference on Robotics and Automation( 国際学会)
Related Report
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[Presentation] “Safe Skin” - A Low-Cost Capacitive Proximity-Force-Fusion Sensor For Safety in Robots2021
Author(s)
Wang, Z., Gao, H., Schmitz, A., Somlor, S., Tomo, T.P., Sugano, S.
Organizer
IEEE/RSJ International Conference on Intelligent Robots and Systems( 国際学会)
Related Report
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[Presentation] SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction2021
Author(s)
Yan, G., Schmitz, A., Funabashi, S., Somlor, S., Tomo, T.P., Sugano, S.
Organizer
IEEE International Conference on Robotics and Automation( 国際学会)
Related Report