2022 Fiscal Year Research-status Report
Development of a Distributed Stretchable 3-axis Sensing System
| Project/Area Number |
21K14131
|
|---|
| Research Institution | Waseda University |
|---|
Principal Investigator |
トモ ティト・プラドノ 早稲田大学, 次世代ロボット研究機構, 次席研究員(研究院講師) (00844193)
|
|---|
| Project Period (FY) |
2021-04-01 – 2024-03-31
|
| Keywords | stretchable / 3-axis / tactil / skin / sensor / soft |
|---|
| Outline of Annual Research Achievements |
In FY2022, we improved the performance of a stretchable 3-axis skin sensor by replacing the silver pastes and meander patterns used in the previous version with coiled copper wires.
Our findings showed that this modification resulted in a significant increase in the maximum stretching ratio of the sensor from 150% to 250%. Furthermore, the resistance of the wires did not change significantly even after several hundred stretching cycles, allowing for stable I2C digital communication. However, we also observed that the coiled copper wires were prone to breakage after around 200 stretching cycles. Based on these findings, we identified the need to focus on improving the robustness of the sensor, which remains a significant challenge.
These results were presented at the SI2022 Conference.
|
| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
Initially, we had planned to integrate the stretchable 3-axis skin sensor developed in FY2021 into a robot in FY2022. However, due to the issue with the sensor's robustness, we had to redevelop it in FY2022. Despite this setback, our results showed a significant improvement in the sensor's performance compared to the FY2021 version. This is promising and suggests that a robust sensor can be achieved by enhancing the manufacturing process.
|
| Strategy for Future Research Activity |
In the coming year, FY2023, our primary focus will be to enhance the robustness of the stretchable 3-axis skin sensor. Our aim is to develop a sensor that can withstand thousands of stretching cycles without compromising its sensing capabilities.
To achieve this goal, we have devised a plan to replace the coiled copper wires with a conductive thread. Additionally, we will use elastic fabric instead of silicone rubber, which we will sew using a sewing machine. This updated version of the sensor will undergo evaluation similar to the method used in FY2022 to assess its performance.
By implementing these modifications, we aim to increase the lifespan of the sensor and improve its reliability, making it a more practical to cover robot joints.
|
| Causes of Carryover |
This research, originally planned to conclude in FY2022, has been extended into FY2023. The funds allocated for this project will be utilized to acquire essential tools and materials required for the development of the stretchable 3-axis skin sensor.
|
-
-
[Presentation] Participatory Design and Early Deployment of DarumaTO-3 Social Robot2022
Author(s)
Zhihao Shen, Nanaka Urano, Chih-Pu Chen, Shi Feng, Scean Mitchell, Masao Katagiri, Yegang Du, Franco Pariasca Trevejo, Tito P Tomo, Alexander Schmitz, Ryan Browne, Toshimi Ogawa, Yasuyuki Taki, Gabriele Trovato
Organizer
ICSR 2022
Int'l Joint Research
