2013 Fiscal Year Final Research Report
Mechanical analysis of the active tactile sensing based on the dynamics of the tactile receptors
| Project/Area Number |
23700214
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Tokyo Metropolitan University |
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Principal Investigator |
ISHIBASHI Ryota 首都大学東京, システムデザイン学部, 助教 (20535835)
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| Co-Investigator(Kenkyū-buntansha) |
FUJIMOTO Hideo 名古屋工業大学, 機械工学科, 教授 (60024345)
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| Research Collaborator |
ISHIBASHI Ryota 首都大学東京, システムデザイン学部, 助教 (20535835)
SHINOHARA Minoru ジョージア工科大学, 応用生理学部, 准教授 (70241213)
HASHIGUCHI Hiroe 大同大学, ロボティクス学科, 講師 (20434558)
ISAKA Tadao 立命館大学, スポーツ健康学部, 教授 (30247811)
KAWAMURA Sadao 立命館大学, 理工学部, 教授 (20186141)
IMANAKA Kuniyasu 首都大学東京, 健康福祉学部, 教授 (90100891)
ISHIHARA Masami 首都大学東京, 人文科学研究科, 准教授 (60611522)
SANO Akihito 名古屋工業大学, 機械工学科, 教授 (80196295)
KINO Hitoshi 福岡工業大学, 工学部, 教授 (50293816)
TAHARA Kenji 九州大学, 工学研究科, 准教授 (80392033)
TOYAMA Shigeki 東京農工大学, 工学研究科, 教授 (20143381)
KOJIMA Akira 首都大学東京, システムデザイン学部, 教授 (80234756)
TAKESUE Naoyuki 首都大学東京, システムデザイン学部, 准教授 (70324803)
TANIGUCHI Syouhei パナソニック株式会社
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| Project Period (FY) |
2011 – 2013
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| Keywords | 触覚受容器 / 力触覚 / 適応・学習制御 / ロボティクス・ハプティクス / システム制御 / 生体力学・運動神経生理学 / スポーツ科学 / 国際研究者交流 |
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| Research Abstract |
This research analyzes the active sensing ability of the human. Key point of the research is to investigate how the mechanosensitive receptors and the skin structure affect the dynamic sensing ability. At first, a mathematical model of the mechanosensitive receptors and the skin structure was developed. Then, the proposed model was applied to the muscle spindle mechanism and a new method to enhance the sensory-motor skill by using a kind of stochastic-resonance was obtained.
Next, the relation between the finger-tip motion and the perception was examined. Then, tactile feedback method of the human motion was obtained which formed a task space P-SD servo controller. Consider about the skin and the mechanosensitive receptors dynamics, the proposed controller can feedback the task-space velocity nonlinearly. In addition, parameter identification method of the human motion was examined and a Jacobian based controller for the SMA actuator system and the predictive controller was obtained.
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