Integrated sensitivity-adjustable 3-axis tactile and proximity sensor as distributed, robust, and soft robotic skin system for safe human-robot collaboration

2022 年度 実績報告書

• 研究課題/領域番号: 19K14948
• 研究機関: 早稲田大学
• 研究代表者: Somlor Sophon 早稲田大学, 理工学術院総合研究所(理工学研究所), 次席研究員(研究院講師) (40791231)
• 研究期間 (年度): 2019-04-01 – 2023-03-31
• キーワード: Tactile sensor / Proximity sensor / Capacitive sensor

研究実績の概要

A capacitive-based soft force and proximity sensor was developed. The sensor was easy to build at relatively low-cost. The sensors was evaluated and the characteristics of the sensors were studied. The result was published in IROS 2021.

Several units of the proposed sensor were installed in NICEBOT, a robot arm. Several characteristics of the sensors then were tested. In particular, the external disturbance and the effect of self-sensing that affects the measurement of the sensor was studied.