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2009 Fiscal Year Final Research Report

Research and development of the tactile sensor system in which connects from a proximity sense to a tactile sense seamlessly

Research Project

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Project/Area Number 19200015
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionThe University of Electro-Communications

Principal Investigator

SHIMOJO Makoto  The University of Electro-Communications, 電気通信学部, 教授 (90292474)

Co-Investigator(Kenkyū-buntansha) ISHIKAWA Masatoshi  東京大学, 大学院・情報理工学系研究科, 教授 (40212857)
MING Aiguo  電気通信大学, 電気通信学部, 准教授 (50239456)
NAMIKI Akio  千葉大学, 大学院・工学研究科, 准教授 (40376611)
TADAKUMA Kenjiro  大阪大学, 大学院・工学研究科, 助教 (30508833)
Project Period (FY) 2007 – 2009
Keywordsセンサ融合 / 統合
Research Abstract

本研究は,基本動作原理が同じセンサで,近接覚から触覚までをシームレスにつながる触覚センサシステムの開発と,これらを用いた新たな制御システムの開発を行った.その特色・独創的な点としては,全て同じ動作原理であるため,ソフトウェアの統一が取りやすく,また単純なアナログ回路網で構成するため,高速応答性に優れ,拡張性が高く,構造が簡単なことから安価に供給できる.このような特徴を併せてもつセンサはこれまで実現されておらず,これからのロボット技術はもとより各種機械システムに装着する触覚センサシステムの共通的プラットホーム技術として利用できると考える.

  • Research Products

    (25 results)

All 2010 2009 2008 2007 2006 Other

All Journal Article (12 results) Presentation (7 results) Book (1 results) Remarks (4 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] A High-Speed Mesh of Tactile Sensors Fitting Arbitrary Surfaces2010

    • Author(s)
      Shimojo M., Araki T., Ming A., Ishikawa M.
    • Journal Title

      IEEE Sensors Journal (in press)

  • [Journal Article] 高速多指ハンドと高速視触覚フィードバックを用いた柔軟紐の結び操作2009

    • Author(s)
      山川雄司, 並木明夫, 石川正俊, 下条誠
    • Journal Title

      日本ロボット学会 Vol.27,No.9

      Pages: 1016-1024

  • [Journal Article] 選択走査方式を用いた省配線分布型触覚センサ2009

    • Author(s)
      西野高明, 下条誠, 石川正俊
    • Journal Title

      計測自動制御学会論文集 Vol.45,No.8

      Pages: 391-397

  • [Journal Article] High Speed and High Sensitivity Slip Sensor Utilizing Characteristics of Conductive2009

    • Author(s)
      Seiichi Teshigawara, Kenjiro Tadakuma, Aiguo Ming, Masatoshi Ishikawa, Makoto shimojo
    • Journal Title

      J. of Robotics and Mechatronics Vol.21No.2

      Pages: 200-208

  • [Journal Article] オプタコンの機械特性と人間の触覚特性との適合度に関する研究2008

    • Author(s)
      島田茂伸, 篠原正美, 安彦成泰, 下条誠
    • Journal Title

      電子情報通信学会論文誌D vol.J91-D,no.5

      Pages: 1296-1304

  • [Journal Article] The Development of the plantar Pressure Sensor Shoes for Gait Analysis2008

    • Author(s)
      M. Hirasawa, H. Okada, M shimojo
    • Journal Title

      J. of Robotics and Mechatronics vol.20,no.2

      Pages: 289-295

  • [Journal Article] インタラクティブ型触覚グラフィックディスプレイのユーザインタフェース向上とその応用2008

    • Author(s)
      山本卓, 内田優典, 島田茂伸, 篠原正美, 下条誠, 清水豊
    • Journal Title

      日本バーチャルリアリティ学会, TVRSJ vol.13,no.1

      Pages: 49-58

  • [Journal Article] Navigation system for mobile robot based on simultaneous-firing sonar ring2007

    • Author(s)
      Xie Zhao-xian; Huang Da-gui, Ming Aiguo, Li Zhi-jun, Shimojo, M.
    • Journal Title

      Journal of University of Electronic Science and Technology of China vol.36

      Pages: 309-311 321

  • [Journal Article] Motion generation for hyper dynamic manipulation2007

    • Author(s)
      C. Xu, A. Ming, T. Maruyama, M. Shimojo
    • Journal Title

      Int. J. Mechatronics vol.18,no.8

      Pages: 405-416

  • [Journal Article] Design for high dynamic performance robot based on dynamically coupled driving and joint stops2007

    • Author(s)
      Xu, C., Ming, A., Mak, K., Shimojo, M.
    • Journal Title

      Int. J. Robotics & Automation Vol.22

      Pages: 281-293

  • [Journal Article] 等電位法に基づく分布型オーバサンプリングA-D変換を用いた触覚センサ2007

    • Author(s)
      岩下貴司, 下条誠, 石川正俊
    • Journal Title

      電子情報通信学会論文誌C Vol.J90-C,No.10

      Pages: 683-692

  • [Journal Article] evelopment of a compact and fast-response haptics display system2006

    • Author(s)
      Shimojo, M., Niki, T.
    • Journal Title

      Systems and Computers in Japan vol.37,no.2

      Pages: 46-55

  • [Presentation] High Sensitivity Slip Sensor Using Pressure Conductive Rubber Int.2009

    • Author(s)
      Teshigawara S., Shimizu S., Tadakuma K., Ming A., Ishikawa M. Shimojo M.
    • Organizer
      Conf. on SENSORS
    • Place of Presentation
      Christchurch
    • Year and Date
      2009-10-28
  • [Presentation] Motion planning for a high-speed manipulator with mechanical joint stops based on target dynamics and PCH system2009

    • Author(s)
      Sakai S., Xu C., Ming A., Shimojo M
    • Organizer
      2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      St. Louis
    • Year and Date
      2009-10-11
  • [Presentation] One-handed knotting of a linear flexible object based on reconfigurable skill synthesis strategy2009

    • Author(s)
      Yamakawa Y., Namiki A., Ishikawa M., Shimojo M.
    • Organizer
      2009 ASME/IFToMM Int. Conf. on Reconfigurable Mechanisms and Robots
    • Place of Presentation
      London
    • Year and Date
      2009-06-22
  • [Presentation] Development of high speed and high sensitivity slip sensor2008

    • Author(s)
      Teshigawara S., Ishikawa M. ; Shimojo M.
    • Organizer
      2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      Nice
    • Year and Date
      2008-09-22
  • [Presentation] Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor 2008 IEEE Int.2008

    • Author(s)
      Gunji D., Mizoguchi Y., Teshigawara S., Ming A. Namiki A., Ishikawa M. Shimojo M.
    • Organizer
      Conf. on Robotics and Automation
    • Place of Presentation
      Pasadena
    • Year and Date
      2008-05-19
  • [Presentation] One-handed Knotting of a Flexible Rope with a High-speed Multifingered Hand having Tactile Sensors 2007 IEEE/RSJ Int.2007

    • Author(s)
      Yamakawa Y., Namiki A., Ishikawa M., Shimojo M.
    • Organizer
      Conf. on Intelligent Robots and Systems
    • Place of Presentation
      San Diego
    • Year and Date
      2007-10-29
  • [Presentation] A Net-Structure Tactile Sensor Covering Free-form Surface and Ensuring High-Speed Response IROS 20072007

    • Author(s)
      Shimojo M., Araki T., Teshigawara S., Ming A., Ishikawa M.
    • Place of Presentation
      San Diego
    • Year and Date
      2007-10-29
  • [Book] センシング入門2007

    • Author(s)
      下条誠
    • Total Pages
      71-84
    • Publisher
      オーム社
  • [Remarks] The IEEE Robotics and Automation Society Award, Best Paper Finalist in IROS2007, 2007.

  • [Remarks] 日本バーチャルリアリティ学会論文賞, 2009

  • [Remarks] IEEE Int. Symp. on Robot and Human Interactive Communication, KAZUO TANIE AWARD, 2009

  • [Remarks] 論文賞財団法人ファナックfaロボット財団, 2010

  • [Patent(Industrial Property Rights)] 近接距離分布を計測する多段リング型二次元近接覚センサ2009

    • Inventor(s)
      下条誠, 寺田一貫
    • Industrial Property Rights Holder
      電気通信大学
    • Industrial Property Number
      特許2009-203027
    • Filing Date
      2009-09-02

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Published: 2011-06-18   Modified: 2016-04-21  

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