Soft artificial fingertip with Hall elements as a pressure-temperature sensitive device embedded in elastic material

• Project/Area Number: 23700223
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: National Institute of Technology, Kumamoto College
• Principal Investigator: YUJI Junichiro 熊本高等専門学校, 機械知能システム工学科, 准教授 (80332104)
• Project Period (FY): 2011 – 2013
• Project Status: Completed (Fiscal Year 2013)
• Budget Amount: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2011: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
• Keywords: 触覚センサ / 皮膚感覚 / 人工指 / ホール素子 / 人工皮膚 / 定電流駆動 / 定電圧駆動

Research Abstract

A magnetic multifunctional tactile sensing method with Indium antimonide (InSb) Hall elements for artificial fingertip to detect simultaneously normal contact force and temperature was investigated. A trial artificial fingertip consists of Hall elements and a magnet that are embedded in a silicone rubber. The temperature characteristic of InSb Hall elements depends on the bias circuit to generate the Hall voltage. Two output Hall voltages driven by two kinds of bias circuits are used to formulate the inverse response surface. This inverse response surface detected the normal contact force and the temperature by using only two Hall voltages.

Research Products

• [Presentation] Magnetic tactile sensing method with Hall element for artificial finger (2013)
  • Author(s): Jun-ichiro YUJI, Shota Shiraki
  • Organizer: Proceedings of the 7th International Conference on Sensing Technology (ICST2013), pp.311-315
  • Place of Presentation: Massey University, Wellington,New Zealand
  • Year and Date: 2013-12-04
• [Presentation] InSb ホール素子の温度特性を利用した磁気式触覚センシング (2013)
  • Author(s): 湯治準一郎,白木翔太
  • Organizer: 計測自動制御学会計測部門 第30回センシングフォーラム資料, pp.296-300
  • Place of Presentation: 信州大学繊維学部(上田キャンパス)
  • Year and Date: 2013-08-30
• [Presentation] Application of Hall element as multimodal sensing device for artificial skin (2013)
  • Author(s): Jun-ichiro Yuji, Kaito Tanimura
  • Organizer: SPIE Smart Structures and Materials+NDE,Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems,8692-129
  • Place of Presentation: San Diego, USA
  • Year and Date: 2013-03-12
• [Presentation] InSbホール素子の温度特性を利用した磁気式触覚センシング (2013)
  • Author(s): 湯治 準一郎，白木 翔太
  • Organizer: 第30回センシングフォーラム
  • Place of Presentation: 信州大学繊維学部（上田キャンパス）
• [Presentation] Magnetic tactile sensing method with Hall element for artificial finger (2013)
  • Author(s): Jun-ichiro YUJI, Shota SHIRAKI
  • Organizer: Tthe 7th International Conference on Sensing Technology (ICST2013)
  • Place of Presentation: Massey University, Wellington, NZ
• [Presentation] InSbホール素子の温度依存性を利用した触覚センサ (2013)
  • Author(s): 湯治準一郎，谷村快人
  • Organizer: 第18回高専シンポジウム
  • Place of Presentation: 仙台高等専門学校
• [Presentation] Application of Hall element as multimodal sensing device for artificial skin (2013)
  • Author(s): Jun-ichiro YUJI, Kaito Tanimura
  • Organizer: SPIE Smart Structures and Materials+NDE，Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems
  • Place of Presentation: Convention Center, San Diego, USA
• [Patent(Industrial Property Rights)] 触覚センサ (2012)
  • Inventor(s): 湯治準一郎
  • Industrial Property Rights Holder: 独立行政法人国立高等専門学校機構
  • Industrial Property Rights Type: 特許
  • Filing Date: 2012-03-30
• [Patent(Industrial Property Rights)] 触覚センサ (2012)
  • Inventor(s): 湯治準一郎
  • Industrial Property Rights Holder: 湯治準一郎
  • Industrial Property Number: 2012-078840
  • Filing Date: 2012