2018 Fiscal Year Annual Research Report
Mechanics of Variable Afferent Network Morphology, with Design of Soft Sensing Devices
| Project/Area Number |
18H01406
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| Research Institution | Japan Advanced Institute of Science and Technology |
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Principal Investigator |
Ho Anhvan 北陸先端科学技術大学院大学, 先端科学技術研究科, 准教授 (60757508)
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| Co-Investigator(Kenkyū-buntansha) |
渋谷 恒司 龍谷大学, 理工学部, 教授 (20287973)
高村 禅 北陸先端科学技術大学院大学, 先端科学技術研究科, 教授 (20290877)
平井 慎一 立命館大学, 理工学部, 教授 (90212167)
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| Project Period (FY) |
2018-04-01 – 2021-03-31
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| Keywords | soft haptic interaction / VANmorph / morphological design / wrinkle-based sensor |
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| Outline of Annual Research Achievements |
We focused on modeling of soft contacts that facilitate morphological design of soft haptic interfaces, based on the idea of Variable Afferent Network morphology (VANmorph). Through such investigation, we found that soft body plays a crucial role for defining the operation, sensitivity, and dynamics of haptic sensing interfaces. Moreover, by changing the shape or stiffness of the accommodating soft body, embedded sensing elements performed different sensing ability, resulting in selectable sensing functions based on dynamic shape-changing, which promises an exciting research trend.
We also proposed several novel designs of soft tactile sensing systems based on investigation of VANmorph, for example shape-changing devices inspired by wrinkle morphology with different sensing ability. Especially, a tactile muscularis with simultaneous estimation of multiple contact points on a large-area skin has been proposed.
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| Current Status of Research Progress |
Current Status of Research Progress
1: Research has progressed more than it was originally planned.
Reason
In FY2018, we not only succeeded in investigation of Variable Afferent Network morphology using different modeling methods (Beam Bundle Model, analytical method), but also managed to propose interesting shape-changing tactile sensing systems based on wrinkle morphology. Regarding this term, we proposed two prototypes with different integrations: 1. Pneumatic actuation and strain gauge, 2. Pre-stretched structure and strain gauge.
Moreover, a tactile muscularis that can sense a large area of contact using built-in stereo cameras for tracking deformation of outer skin has been proposed. This is the first time a large-scale soft sensing device was proposed without using embedded sensing elements underneath the skin, which improves the scalability and durability. A patent was filed for this design. This design promises a wide application in fabrication of robotic skin with high reliability.
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| Strategy for Future Research Activity |
In this fiscal year, we plan to implement following plans: (A) Investigation of VANmorph in wrinkle-based soft tactile sensing devices, specifically how the role of wrinkle morphology (shape and softness) affect sensing abilities of the sensing device using analytical methods. Obtained simulated results will be compared with response from actual setup in various conditions. This research will help optimize the design of such sensing device for different sensing task. (B) Development of three types of wrinkle-based soft shape-changing sensing devices: 1. using strain gauges and pneumatical actuation, 2. using strain gauges and pre-stretch actuating structure, 3. using accelerometer and pneumatic. All devices will be test with different sensing tasks, such as self deformation sensing, tactile sensing, sliding motion sensing, and so on. (C) Implementation of active sensing using above devices, focusing first on type 2, by proposal of learning method for teaching the sensor which morphology should be chosen under specific sensing tasks. (D) Proposal a new type of shape-changing sensing skin that can change its morphology for wide range of physical interaction sensing. This device will be based on stereo cameras' three dimensional construction of inner markers, which can be interpolated to deformation, applied force. First prototype will be applied in making entirely-tactile sensing soft robotic arm for safe interaction with humans.
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