| 研究実績の概要 |
We have further developed the tactile sensors. In particular, the sensors are stretchable now, so that they can be used for robot joints for example in the future. Previously, the design required silver paste and multiple resins for elements such as wiring, wiring fixation, and substrate fixation. In terms of the work process, delicate temperature control and technology were required when bonding the sheet, resin, and substrate due to the effects of thermal deformation. In the new design, copper wire and silicon are the main materials used to create the elastic wiring, and the process no longer requires special work, making it easier and shorter than before. Therefore, it is expected to lead to increased efficiency when automating the process in the future.
Moreover, we have continued to use the tactile sensors embedded in robot hands and grippers for tactile AI. The robot is able to perform various in-hand manipulations, detect object properties, and predict grasp stability as well as detect slip. We use, implement and improve state of the art machine learning methods such as attention mechanisms, ensemble learning and graph neural networks.
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