2020 Fiscal Year Final Research Report
Development of a hybrid sensor system comprising force and tactile sensors that can measure viscous and elastic characteristics
| Project/Area Number |
17K00231
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Perceptual information processing
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| Research Institution | Gifu University |
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Principal Investigator |
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| Project Period (FY) |
2017-04-01 – 2021-03-31
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| Keywords | 接触センシング処理 / 触感覚認識 / 触覚センサ |
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| Outline of Final Research Achievements |
The purpose of this study is to develop of a hybrid sensor system comprising force and tactile sensors that can measure the viscous and elastic characteristics of soft materials. This sensor system is able to measure the hardness of a touched object or detect the slip of the object. In the experiments, the sensor outputs were obtained when the sensor element was deformed repeatedly at the volume of less than 100 micro meter. And it is found that in addition to the parameter of deformation volume of a sensor element, its deformation velocity has an influence on the sensor outputs. The results suggest that the sensor system has an ability to measure the viscoelasticity of an object like a human finger tip.
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| Free Research Field |
センサ工学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究の目的は，人指先と同じように触感覚を認識可能な指先型触力覚ハイブリッドセンサシステムを開発することである．研究期間内には，本センサシステムの粘弾性特性評価装置を開発して，柔軟物の粘弾性を判別する接触センシング技術を開発することを目指した．実験では，約十μmの周期的な正弦波状の繰り返し変形をセンサ素子に与えて，変形量の増減に加えて変形速度もセンサ出力に影響を与えることがわかった．今後は，ゴムやスポンジなどの柔らかさとセンサ出力との関係を明らかにして，本センサシステムで柔軟物の粘弾性を測定可能にすることが期待される．
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