A robotic fingertip for sensing a state transition of the connector insertion

• Project/Area Number: 24560316
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Kyushu Sangyo University
• Principal Investigator: MURAKAMI Kouji 九州産業大学, 工学部, 准教授 (80380682)
• Project Period (FY): 2012-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000); Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2012: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
• Keywords: 触覚センサ / ロボットハンド / ロボティクス / ロボット触覚

Outline of Final Research Achievements

I have developed a tactile sensor for estimating a state transition of the insertion process of connectors. This tactile sensor can be used as a robotic fingertip. A pin-header is inserted into a pin-socket in the insertion process of connectors. I have modeled a state transition of the insertion process as a change of an empty space within a pin-socket. Vibrations are transmitted through a pin-socket from a tactile sensor to another opposing tactile sensor in the sensing process. A state transition of the insertion process is estimated by relating a change of the spectral intensity of vibrations.

Research Products

• [Journal Article] Rehabilitation robot in primary walking pattern training for SCI patient (2014)
  • Author(s): Taisuke Sakaki, Nobuhiro Ushimi, Koji Murakami, Yong-Kwun Lee, Kazuhiro Tsuruta, Kanta Aoki, Kaoru Fujiie, Ryuji Katamoto, Atsushi Sugyo, Yoshimitsu Kihara and Kenji Tateishi
  • Journal Title: Proc. ICNR2014 Volume: 7 Pages: 149-157
  • DOI: 10.1007/978-3-319-08072-7_29
  • ISBN: 9783319080710, 9783319080727
  • Peer Reviewed
• [Journal Article] Rehabilitation robot in primary walking pattern training for SCI patient (2014)
  • Author(s): Taisuke Sakaki, Nobuhiro Ushimi, Koji Murakami, Yong-Kwun Lee, Kazuhiro Tsuruta, Kanta Aoki, Kaoru Fujiie, Ryuji Katamoto, Atsushi Sugyo, Yoshimitsu Kihara and Kenji Tateishi
  • Journal Title: Proc. of ICNR2014 Volume: no
  • Peer Reviewed
• [Journal Article] Position Tracking and Recognition of Everyday Objects by using Sensors Embedded in an Environment and Mounted on Mobile Robots (2012)
  • Author(s): Kouji Murakami, Kazuya Matsuo, Tsutomu Hasegawa, Ryo Kurazume
  • Journal Title: Proc. IEEE ICRA2012 Volume: no Pages: 2210-2216
  • Peer Reviewed
• [Presentation] Rehabilitation Robot in Primary Walking Pattern Training for SCI Patient at Home (2015)
  • Author(s): Taisuke Sakaki, Toshihiko Shimokawa, Nobuhiro Ushimi, Koji Murakami, Yong-Kwun Lee, Kazuhiro Tsuruta, Kanta Aoki, Kaoru Fujiie, Ryuji Katamoto, Atsushi Sugyo
  • Organizer: ICNR2015
  • Place of Presentation: コペンハーゲン（デンマーク）
  • Year and Date: 2015-06-11
  • Int'l Joint Research
• [Presentation] ジャミング転移による持ち替え可能な万能カフ (2014)
  • Author(s): 片本隆二，小宮雅美，岩橋謙次，片渕美並，村上剛司
  • Organizer: 第29回リハ工学カンファレンス
  • Place of Presentation: 広島国際大学（広島県・東広島市）
  • Year and Date: 2014-08-24 – 2014-08-27
• [Presentation] 院内連携によるポータブルグリッパーの開発の現状と対策 (2013)
  • Author(s): 片本隆二，村上剛司
  • Organizer: 日本デザイン学会研究発表大会
  • Place of Presentation: 筑波大学
• [Presentation] Tracing Commodities in Indoor Environments for Service Robotics (2012)
  • Author(s): Oscar Martinez Mozos, Fran cois Chollet, Kouji Murakami, Kenichi Morooka, Tokuo Tsuji, Ryo Kurazume, Tsutomu Hasegawa
  • Organizer: IFAC SYROCO 2012
  • Place of Presentation: Croatia