| 研究課題/領域番号 |
15K21443
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| 研究機関 | 早稲田大学 |
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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, 准教授(任期付) (30729455)
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| 研究期間 (年度) |
2015-04-01 – 2018-03-31
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| キーワード | F/T sensors |
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| 研究実績の概要 |
We have implemented the 6-axis F/T sensor based on capacitive sensing. The sensor employs a unique arrangement of the 12 single-axis transducers to allow it to measure the 6-axis force-torque while being small in size, light weight and providing digital output (I2C).
Moreover, we further developed and evaluated the soft skin sensor based on Hall-Effect sensing. The sensor can now also be used on a curved surface like a fingertip. The sensor is low-cost, easy to manufacture, and can measure normal and shear forces. The SNR value of 54dB for 0.4N load was achieved, which is relatively high for a soft skin sensor. Several sensor modules were integrated in a robot hand.
We also performed work to optimize the fingertip shape and material and performed in-hand manipulation with the robot hand.
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| 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
Sensor prototypes have been implemented and tested, and we started the integration process in the robot hand.
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| 今後の研究の推進方策 |
Work remains to be done for the implementation of the sensors on the robot. For example, we need an optimized microcontroller. Furthermore, the sensor production process needs to become more reliable. Especially for the 6-axis F/T sensor, there is a lot of room for improvement.
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| 次年度使用額が生じた理由 |
We successfully implemented the sensor but want to do more experiments to evaluate the sensor on the robot.
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| 次年度使用額の使用計画 |
Materials will be bought and students will be paid in order to perform these experiments.
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