| Project/Area Number |
22760312
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Saitama University |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
|
| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2011: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2010: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | ロボット / 触覚 / 力学 / 命令認識 / 力覚 |
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| Research Abstract |
Haptic modality is one of the most important considerations in man-machine communication. Therefore, this project developed a technique to recognize commands based on the signals from tactile sensors.
Firstly, the command recognition technique so-calledhaptic gesturewas developed for efficient operation of a human support robot. Since the tactile sensor has drawbacks of low stiffness and low strength, a mechanism with multiple supporting points was developed. It was shown that the recognition rate improves with the multiple supporting point mechanism.
Secondly, a whole-body force sensation algorithm for a non-convex shaped end-effector was developed. The limitation on the shape of the tactile sensor was eliminated with this algorithm.
Thirdly, this project introduced a personal identification technique based on force information of finger tracing. Compared to other biometric methods, the proposed method has the advantage of high security due to the non-visible nature of force information.
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