2021 Fiscal Year Research-status Report
Integrated sensitivity-adjustable 3-axis tactile and proximity sensor as distributed, robust, and soft robotic skin system for safe human-robot collaboration
| Project/Area Number |
19K14948
|
|---|
| Research Institution | Waseda University |
|---|
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)
|
|---|
| Project Period (FY) |
2019-04-01 – 2023-03-31
|
| Keywords | Tactile sensor / Proximity sensor / Capacitive sensor |
|---|
| Outline of Annual Research Achievements |
A low-cost compliant capacitive Force/proximity sensor called "Safe Skin" has been developed. The sensor can sense the distance up to 400 mm and the force up to 40 N. The sensor was tested and its result was published in IROS 2021. Three sizes of sensors were tested to evaluate their performance. The size of 120 x 120 gives the best performance. Afterward, the sensor has been tested on an actual robotic arm. The objective of the test is to determine any external disturbances that could influent the sensor. Several units of the sensor have been installed on the robot to test their integration.
|
| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The sensors has been developed as planned. It has been then tested on the robot for effective integration on a robotic arm.
|
| Strategy for Future Research Activity |
Several units of the sensors that are already integrated on a robotic arm will be tested, the interferences from either the robot and environment will be studied. Several issues such as self sensing will be dealt with.
|
| Causes of Carryover |
To make more units of the sensors so that the sensors can cover a robotic arm.
|
Research Products
(2 results)
