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2021 Fiscal Year Final Research Report

Development of a low-cost force sensor device for medical caring robots

Research Project

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Project/Area Number 19K12834
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 90130:Medical systems-related
Research InstitutionAkashi National College of Technology

Principal Investigator

ohmukai Masato  明石工業高等専門学校, 電気情報工学科, 教授 (70259901)

Co-Investigator(Kenkyū-buntansha) 三谷 祐一朗  沼津工業高等専門学校, 機械工学科, 教授 (00280389)
上 泰  明石工業高等専門学校, 電気情報工学科, 准教授 (20413809)
田崎 良佑  青山学院大学, 理工学部, 准教授 (70644467)
Project Period (FY) 2019-04-01 – 2022-03-31
Keywords力覚検出デバイス / 加圧力推定 / 医療・介護ロボット / 感圧導電性ゴム
Outline of Final Research Achievements

The goal of this study is to develop a low-cost force sensor device to detect manipulation to proceed or rotate medical caring robots. As a low-cost force sensor, pressure-sensitive conductive rubber has been adopted instead of the expensive 6-axis force sensor ever used. In this study, some procedures have been proposed for more the precise estimation of applied forces. Moreover, a smaller prototype of a force sensor device has been developed, verified to have practical performances.

Free Research Field

半導体材料 センサ材料

Academic Significance and Societal Importance of the Research Achievements

本研究では,パワーアシスト機能で検出すべき力が「押す力」と「回す力」の2種類であることに注目し,安価に入手できる感圧導電性ゴムと可変抵抗を用いて6軸力覚センサの代替となるデバイスを,現場が許容できる開発コスト内(数万円以内)で試作できた.そして,実際にロボットが押した方向に動くことを検証し,実用上の観点で必要な性能を有していることを確認できた点に意義がある.

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Published: 2023-01-30  

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