2021 Fiscal Year Final Research Report
Actuator Implementation and Evaluation of Soft Inductive Tactile Sensor with Liquid Metal Flow Channel
| Project/Area Number |
20K19820
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 61010:Perceptual information processing-related
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| Research Institution | Osaka University |
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Principal Investigator |
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| Project Period (FY) |
2020-04-01 – 2022-03-31
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| Keywords | 柔軟触覚センサ / ソフトアクチュエータ / ソフトロボット / 液体金属 / イオン液体 / ソフトグリッパ / 物体認識 |
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| Outline of Final Research Achievements |
This study aimed to realize a method of combining soft actuators and flexible tactile sensors with different softnesses that does not compromise the softness of both. First, we developed and evaluated a soft tactile sensor equipped with a liquid metal flow channel by applying the separation structure of soft and hard materials of an inductive tactile sensor. As a result, we confirmed that the contact force can be estimated from the inductance of the coil installed outside as the displacement of the liquid metal in the flow channel. In addition, we proposed a soft gripper consisting of an ionic liquid tactile sensor and a soft actuator, and showed that the gripped objects can be classified from the tactile time series information obtained by grasping multiple objects.
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| Free Research Field |
ソフトロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
ヒトと共存するロボットへやわらかな身体を与えることは，本質的に安全なインタラクションを実現する上でも，環境への多様な働きかけとそこから生まれる豊かな環境情報を得るために重要である．これまで多数の柔軟触覚センサが開発されてきたが，力検出箇所から硬さを取り除き，柔らかなアクチュエータと本来の柔らかさを損なわないように組み合わせることは困難であった．本提案では，力検出箇所には一切硬い素材を埋め込む必要が無く，柔らかな素材のみでセンサ及びアクチュエータを構成できる．この構造は，やわらかなロボットを実現する上で柔軟/硬質素材の構造的分離に極めて有用であり，本分野発展に資するものである．
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