| 研究課題/領域番号 |
15K21443
|
|---|
| 研究機関 | 早稲田大学 |
|---|
研究代表者 |
シュミッツ アレクサンダー 早稲田大学, 理工学術院, 助教 (30729455)
|
|---|
| 研究期間 (年度) |
2015-04-01 – 2017-03-31
|
| キーワード | F/T Sensors |
|---|
| 研究実績の概要 |
We have implemented and tested the 3-axis capacitive force sensor for skin. The main novelty is the tilted capacitive transducers with copper beryllium that enables measuring the tangential forces acting on the sensor surface. Experiments clearly show that the sensor can sense the 3D force vector with a certain level of accuracy. Even after the molding, the sensor has a relatively high SNR. In our experiments, the hysteresis was limited within 4% of the maximum force after the molding when covered with a 7mm-thick layer of Ecoflex Supersoft 30 silicone rubber. The temperature compensation pad can limit the effect of temperature changes on the sensor measurements.
Furthermore, we have implemented a tactile sensor that uses Hall-effect sensors. This sensor requires less space and the production is easier than for the capacitive sensor. We implemented a tactile sensor system that can be installed on robotic hands, in particular, the commercially available Allegro Hand from Simlab. Each sensor module contains 16 tri-axial Hall effect force sensors and eight tri-axial accelerometers. The modules are 26mm long and 27mm wide and fit on each of the 11 servo motors that constitute the finger phalanges of the Allegro Hand. The 3-axis Hall effect sensors are close to each other (4.7 from the center of one sensor to the next), but experiments proved that the crosstalk is limited, and the position and shape of the contact can be extracted.
|
| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
We have made better progress than expected with the distributed skin sensors. We are currently working on the 6-axis F/T sensors.
|
| 今後の研究の推進方策 |
We have made all the parts for the capacitive 6-axis F/T sensor, but have yet to assemble a complete prototype. For the 3-axis F/T sensors for skin, there are many possible improvements, which will be implemented. Moreover, there are many tests which remain to be performed on the sensors. The sensor integration on the robot arm and hand is incomplete and will be done in the future. Experiments with the arm and hand will be performed.
|
| 次年度使用額が生じた理由 |
We asked for the money to buy a robot arm to install the sensors. Unexpectedly, we could use an existing robot arm in the lab (and an existing robot hand) to test the sensors. The existing robot arm and hand can easily be modified to allow the installation of the sensors. Therefore, we did not need to acquire a new robot arm.
|
| 次年度使用額の使用計画 |
In the 2nd year, we will focus on the improvement of the sensors, the integration on the robot, and the software development. I will buy new PCBs for improved sensors and other material like silicone and chips to implement the sensors.
|
