2011 Fiscal Year Final Research Report

Development of a flexible structural contact force sensor which obtains the contact information on the contact surface

Research Project

Project/Area Number	22700184
Research Category	Grant-in-Aid for Young Scientists (B)
Allocation Type	Single-year Grants
Research Field	Perception information processing/Intelligent robotics
Research Institution	Akita Prefectural University
Principal Investigator	SAITO Naoki 秋田県立大学, システム科学技術学部, 准教授 (60315645)
Project Period (FY)	2010 – 2011
Keywords	センシングデバイス / システム
Research Abstract	In this study, we have developed a flexible structural contact force sensor. A polycarbonate with vapor grown carbon fiber sheet was used to translate from pressure to electrical signals. We have arranged this material into the sensor to measure four axis contact forces. A relation between four axis contact force and output signals are identified by a learning program of neural network. We confirmed that four axis contact force can estimate appropriately by this learning program and output signals experimentally. In addition, we have developed a flexible tactile device which can detect contact points. Detection capability of contact point was confirmed experimentally.