2017 Fiscal Year Research-status Report
Integrated multimodal tactile sensor as large-scale distributed robotic skin for safe human-robot collaboration
| Project/Area Number |
17K18183
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| Research Institution | Waseda University |
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Principal Investigator |
Somlor Sophon 早稲田大学, 理工学術院総合研究所(理工学研究所), 次席研究員 (40791231)
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| Project Period (FY) |
2017-04-01 – 2019-03-31
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| Keywords | Tactile sensor / Force sensor / Multi-axis |
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| Outline of Annual Research Achievements |
We further developed the sensor and successfully tested it.
The developed sensor and its test results was submitted to IROS2018/RA-Letter as shown here: Holgado, A.C., Lopez, J.A.A., Schmitz, A., Tomo T.P., Somlor, S., Jamone, L., Sugano, S., An Adjustable Force Sensitive Sensor with an Electromagnet For a Soft, Distributed, Digital 3-axis Skin Sensor.
We implemented an electromagnet above a 3-axis magnetic sensor, separated by soft foam. The sensor has digital output with an integrated microcontroller. The magnetic field strength and shape with varying currents were examined in simulation. The field changes according to displacements were investigated in simulation and with the actual sensor. A prototype was implemented and the magnetic field changes according to applied force were studied.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The first version of the sensor was implemented and tested. The result was submitted to IROS2018/RA-Letter.
The second version of the sensor is being designed for improving the performance of the sensor. The manufacturing of it will start soon.
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| Strategy for Future Research Activity |
The second version of the sensor will be implemented and tested. It is expected to have superior performance than the first version.
Several units of this version of the sensor will be produced and installed on a robot arm. Experiment will be done to evaluate the sensors.
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| Causes of Carryover |
In the first year, we focused on the design optimization of the sensor. Therefore, we did not use the money as planned.
However, in the next fiscal year, we will do a lot of sensor manufacturing which would require the amount of money we did not use this year.
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