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2005 Fiscal Year Final Research Report Summary

Fundamental research on remote controlled robotic tactile sensor system in endoscope surgery application.

Research Project

Project/Area Number 16560364
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Measurement engineering
Research InstitutionShinshu University

Principal Investigator

ITOH Hideaki  Shinshu University, Faculty of engineering, Associate professor, 工学部, 助教授 (60143989)

Project Period (FY) 2004 – 2005
Keywordsquartz-crystal tuning-fork tactile sensor / impedance change / silicone rubber / Viscoelasticity / complex Young's modulus / Voigt model
Research Abstract

Nowadays, miniature viscometer being capable of use in the area of endoscope surgery has not been realized. In order to discover how viscosity and elasticity of silicone rubber may be separately determined, silicone rubber known as artificial skin has been investigated experimentally using the impedance change (ΔR ) of a quartz-crystal tuning-fork tactile sensor when its base is in contact with the surface of many kinds of rectangular silicone rubber plates. Eleven silicone rubber plates (the values of the rubber hardness are JIS85, 80, 70, 65, 60, 50, 45, 40, 35, 30 and 20) are investigated in this experiment.ΔR increases linearly according to acoustic impedance ρC (ρ: density of silicone rubber, C : sound velocity of a longitudinal acoustic wave in silicone rubber). The relation between AR and ρC is compared when C is calculated in three cases : in first, C is calculated using Young's modulus of silicone rubber measured by a tensiometer ; in second, using Young's modulus which is con … More verted by the shear modulus measured by a rotating viscometer using the Poisson ratio of silicone rubber, 0.49 ; in third, using a complex Young's modulus which is converted by the complex shear modulus measured by a rotating viscometer. It turns out that the third case shows good linearity between ΔR and ρC. ΔR of the tactile sensor at resonant vibration 32.48 kHz is measured when the tactile sensor is in contact with the center of the surface of rectangular silicone rubber plate in the manner that the thickness and the length of each side of rectangular silicone rubber plate are changed separately : the thickness is 5, 10, 15, 20, 25, and 30 mm with constant length 60 mm of each side and the length of each side is 40, 50, 60, 70, and 80 mm with constant thickness 5 mm. It turns out that it is possible to determine an imaginary part of the complex Young's modulus of silicone rubber from the measurements of ΔR, against thickness of silicone rubber, including information on viscoelasticity as the damping factor α for a longitudinal plane transmitting wave in three layers (the sensor's base, silicone rubber, neoprene rubber). The relation between α and complex Young's modulus (E'+iE"), obtained by solving a longitudinal traveling wave equation for the Voigt model, is derived. A ratio of a real part and a imaginary part of complex Young's modulus ( E'/E") measured for silicone rubber (JIS60 and JIS70) by the tuning fork tactile sensor is 0.043 and 0.049 by use of α, respectively. Less

  • Research Products

    (9 results)

All 2006 2005 2004

All Journal Article (9 results)

  • [Journal Article] 音叉型水晶触覚センサによるシリコンゴムの硬度測定2006

    • Author(s)
      伊藤秀明
    • Journal Title

      超音波テクノ 18.1

      Pages: 17-19

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Measurement of Silicone Rubber Using Impedance Change of a Quartz-Crystal Tuning-Fork Tactile Sensor2006

    • Author(s)
      Hideaki Itoh, Yuuki Yamada
    • Journal Title

      Jpn. J. Appl. Phys. Vol.45,No.5B

      Pages: 4643-4646

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Complex Young's Modulus Measurement of Silicone Rubber Using Impedance Change of a Quartz-Crystal Tuning-Fork Tactile Sensor2006

    • Author(s)
      Hideaki Itoh, Yuuki Yamada
    • Journal Title

      Proc. of the 9^<th> Western Pacific Acoustic Conference

      Pages: 189-196

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Investigation on Viscoelasticity of Silicone Rubber Using Impedance Change of a Quartz-Crystal Tuning-Fork Tactile Sensor2005

    • Author(s)
      Hideaki Itoh, Yuuki Yamada
    • Journal Title

      Prof.of the 2005 Ultrasonics Symposium

      Pages: 1448-1451

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 音叉型水晶触覚センサのインピーダンス変化を利用したシリコンゴムの粘弾性測定の検討2005

    • Author(s)
      伊藤秀明, 山田祐貴
    • Journal Title

      第26回超音波エレクトロニクスの基礎と応用に関するシンポジウム 講演予稿集

      Pages: 79-80

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] 音叉型水晶触覚センサのインピーダンス変化を利用したシリコンゴムの粘弾性測定の検討2005

    • Author(s)
      山田祐貴, 伊藤秀明
    • Journal Title

      平成17年度応用物理学会 北陸・信越支部学術講演会予稿集

      Pages: 98

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Investigation on Viscoelasticity of Silicone Rubber Using Impedance Change of a Quartz-Crystal Tuning-Fork Tactile Sensor2005

    • Author(s)
      Hideaki Itoh, Yuuki Yamada
    • Journal Title

      Proc. of the 2005 IEEE Ultrasonics Symposium

      Pages: 1448-1451

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Model of Contact Mechanism for Quartz-Crystal Tuning-Fork Tactile Sensor2004

    • Author(s)
      Hideaki Itoh, Masataka Yanatani, Shinobu Yoshida, Yasunobu Fujiwara, Kiyoshi Ishikawa
    • Journal Title

      Jpn. J. Appl. Phys. Vol.43,No.5B

      Pages: 2982-2986

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Measurement of Silicone Rubber Hardness by Use of a Quartz-Crystal Tuning-Fork Tactile Sensor2004

    • Author(s)
      Hideaki Itoh, Kazuya Mihara, Yuuki Yamada, Kiyoshi Ishikawa
    • Journal Title

      Proc. of the 2004 IEEE International Ultrasonics, Ferroelectronics, and Frequency Control Joint 50^<th> Anniversary Conference

      Pages: 571-574

    • Description
      「研究成果報告書概要(欧文)」より

URL: 

Published: 2008-05-27  

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