| 研究課題/領域番号 |
21K14131
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| 研究機関 | 早稲田大学 |
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研究代表者 |
トモ ティト・プラドノ 早稲田大学, 次世代ロボット研究機構, 次席研究員(研究院講師) (00844193)
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| 研究期間 (年度) |
2021-04-01 – 2024-03-31
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| キーワード | stretchable / 3-axis / tactil / skin / sensor / soft |
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| 研究実績の概要 |
In FY2022, we improved the performance of a stretchable 3-axis skin sensor by replacing the silver pastes and meander patterns used in the previous version with coiled copper wires.
Our findings showed that this modification resulted in a significant increase in the maximum stretching ratio of the sensor from 150% to 250%. Furthermore, the resistance of the wires did not change significantly even after several hundred stretching cycles, allowing for stable I2C digital communication. However, we also observed that the coiled copper wires were prone to breakage after around 200 stretching cycles. Based on these findings, we identified the need to focus on improving the robustness of the sensor, which remains a significant challenge.
These results were presented at the SI2022 Conference.
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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
Initially, we had planned to integrate the stretchable 3-axis skin sensor developed in FY2021 into a robot in FY2022. However, due to the issue with the sensor's robustness, we had to redevelop it in FY2022. Despite this setback, our results showed a significant improvement in the sensor's performance compared to the FY2021 version. This is promising and suggests that a robust sensor can be achieved by enhancing the manufacturing process.
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| 今後の研究の推進方策 |
In the coming year, FY2023, our primary focus will be to enhance the robustness of the stretchable 3-axis skin sensor. Our aim is to develop a sensor that can withstand thousands of stretching cycles without compromising its sensing capabilities.
To achieve this goal, we have devised a plan to replace the coiled copper wires with a conductive thread. Additionally, we will use elastic fabric instead of silicone rubber, which we will sew using a sewing machine. This updated version of the sensor will undergo evaluation similar to the method used in FY2022 to assess its performance.
By implementing these modifications, we aim to increase the lifespan of the sensor and improve its reliability, making it a more practical to cover robot joints.
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| 次年度使用額が生じた理由 |
This research, originally planned to conclude in FY2022, has been extended into FY2023. The funds allocated for this project will be utilized to acquire essential tools and materials required for the development of the stretchable 3-axis skin sensor.
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