2018 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(研究院講師) (40791231)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Keywords | Tactile sensor |
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| Outline of Annual Research Achievements |
we have developed 2 prototypes of a 3-axis force sensor with an adjustable sensitivity and published 1 prototype. The sensor can adjust the sensitivity to suit different tasks in a compact form factor with a digital output. We investigated important factors such as the heat produced by the electromagnet.
However, significant improvement is needed; the integration is not optimized; there are still too many wires; it lacks an ability of failure tolerant wiring, and of dynamic rerouting; there is also interference from external magnetic field for the force sensing module, and disturbances in proximity sensing.
We will improve the sensor's performance and usability in the future.
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| Current Status of Research Progress |
Current Status of Research Progress
3: Progress in research has been slightly delayed.
Reason
There are several points that still need to be tackled in order to acquire such the proposed sensor including 1) increasing the strength of the generate-able magnetic field, 2) reducing the interference of the external magnetic field, 3) reducing the disturbances of the proximity sensor, 4) integrating proximity sensing and force sensing module together, 5) implementing of dynamic reconnection when sensors in the network malfunction, and 6) integrating the sensor on the robot. These have led to the delay in fully developing the sensor.
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| Strategy for Future Research Activity |
From the sensors we have built and tested in this project, we have learned a lot how to improve the sensor's performances and usability.
From our previous development, we aim to integrate the technology we have developed into a new, improved multimodal tactile sensor. In addition, we also want to investigate event-driven communication, as we realized that for a large number of sensors only changes in the measurements should be communicated to avoid an overflow of the communication channels.
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| Causes of Carryover |
We have implemented a few prototypes of the sensors successfully. However, further improvement are needed to make the sensor more robust and more practical to use on the robot.
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