Small sized force/torque sensors for robotic arms and hands

2017 年度 実績報告書

• 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, 准教授(任期付) (30729455)
• 研究期間 (年度): 2015-04-01 – 2018-03-31
• キーワード: Tactile Sensor / Force Sensor

研究実績の概要

We further developed the sensor and tested it successfully.

The results were published here: Somlor, S., Schmitz, A., Jinsun, H., Tomo, T.P., and Sugano, S. (2017) Development of a Capacitive-type 6-axis Force-Torque Sensor. IEEE Sensors Conference 2017, doi: 10.1109/ICSENS.2017.8234153

We implemented a small-sized 6-axis force-torque sensor, using a novel arrangement of 12 unit of the transducers based on the capacitive force transducer we have
previously developed. It provides digital output via I2C bus to reduce the susceptibility to noise and the number of wires. Basic sensor characteristics such as its sensitivity, signal-to-noise ratio, linearity, and hysteresis have been verified. More importantly, we have verified that our sensor can detect and measure the 6-axis force-torque.

研究成果

• [国際共同研究] The Queen Mary University of London/School of Electronic Eng. & Comp. Sci.(英国)
  • 国名: 英国
  • 外国機関名: The Queen Mary University of London/School of Electronic Eng. & Comp. Sci.
• [国際共同研究]
  • 他の国数: 1
• [雑誌論文] Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands (2017)
  • 著者名/発表者名: Tomo, T.P., Schmitz, A., Wong, W.K., Kristanto, H., Somlor, S., Hwang, J., Jamone, L., Sugano
  • 雑誌名: IEEE Robotics and Automation Letters (IEEE RA-L) 巻: 3(1) ページ: 124-131
  • DOI: 10.1109/LRA.2017.2734965
  • 査読あり / 国際共著
• [学会発表] Development of a Capacitive-type 6-axis Force-Torque Sensor (2017)
  • 著者名/発表者名: Somlor, S., Schmitz, A., Jinsun, H., Tomo, T.P., Sugano, S.
  • 学会等名: IEEE Sensors Conference 2017
  • 国際学会