2019 Fiscal Year Annual Research Report
Mechanics of Variable Afferent Network Morphology, with Design of Soft Sensing Devices
| Project/Area Number |
18H01406
|
|---|
| Research Institution | Japan Advanced Institute of Science and Technology |
|---|
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)
|
|---|
| 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)
|
|---|
| Project Period (FY) |
2018-04-01 – 2021-03-31
|
| Keywords | VariableAfferentNetwork / MorphologicalComputation / Wrinkle-inspired sensor / Large-scale sensing / Deformable propeller |
|---|
| Outline of Annual Research Achievements |
In this fiscal year, based on results in FY2018 on proposal of Variable Afferent Network morphology (VANmorph), we completed more insightful investigation on the modeling of VANmorph on previously proposed sensing systems based on wrinkled morphology. In the same time, we extend the VANmorph idea on proposal of novel soft sensors with changeable morphology. More details are as followed:
1. In term of VANmorph on wrinkle-inspired sensor: we have investigated behavior of changeable sensitivity and frictional modulation based on morphological change of this type of sensor. A model based on our previously studied BBM (Beam Bundle Model) was constructed for dynamic simulation of wrinkle surface's frictional behavior under change of the wrinkle's morphology. We also built a FEM (Finite Element Method) for thorough investigation of wrinkle's morphological change under bending actuation. In this setup, we found that the sensitivity of texture also varied upon changing the morphology. Based on this research, we concluded that morphological change of the wrinkled morphology may benefit both frictional behavior and tactile perception upon contact with the surroundings.
2. Other approach was paid on development of a vision-based tactile sensing system for large scale. This system can also change its shape and stiffness for various sensing tasks. We built a simplified FEM model of the skin, then obtained force information based on deformation.
3. A new approach has been initiated for development of a shape-changeable propeller for drones, which can increase safety for drones upon collision
|
| Current Status of Research Progress |
Current Status of Research Progress
1: Research has progressed more than it was originally planned.
Reason
1. During testing the interaction of the wrinkle sensor, we found that by changing the morphology of this sensor, the obtained friction and texture discrimination ability also varied correspondingly. This is more than our expectation at the first stage. Then, a model of the contact interface was built for theoretical investigation of friction modulation ability. In addition, an experimental approach was performed to appealing the tactile exploration of this sensor.
2. We also came up with a novel idea on development of a deformable propeller that can change the shape, absorb the external force upon collision, thus expected to increase safety of drones. Even though this was not planned before, but the idea on variable structure of VANmorph motivated the development of this structure.
|
| Strategy for Future Research Activity |
1. First, based on a proposal of wrinkle-based tactile sensor in the previous fiscal years, we plan to implement "active sensing" ability on this prototype, which allows this sensor to actively change its morphology so that it can adapt to different sensing tasks, such as tactile exploration or frictional variation. Data-driven method will be exploited, then realtime decision maker will be make based on machine learning.
2. Second, we plan to introduce a novel design of a tactile soft fingertip that obey to the VANmorph, which can vary stiffness for changing its sensitivity based on utilizing the phase change of gallium between the solid and liquid states.
3. Third, we will investigate the ability of wet adhesion on soft fingertip that can enhance gripping ability in wet and moisture environment. This work is inspired by micro-scale structure on the tree-frog's toes that allows water film in the contact interface to flow inside micro-scale structure, increasing the capillary force. In the previous fiscal year, the theory was clarified, thus in this fiscal year, we will focus on the fabrication process and related application in gripping wet and slippery objects such as tofu.
4. Forth, we will extend our proposal on the whole-body soft skin, whose stiffness can be varied obeying VANmorph idea, to equipping a robot arm with tactile sensing. Then, we will conduct research on construction of safety control for the robot arm based on tactile sensation. This work promises a new approach for implementation of safe robot arm that can interact with human.
|
