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2023 年度 実績報告書

Development of a Distributed Stretchable 3-axis Sensing System

研究課題

研究課題/領域番号 21K14131
研究機関早稲田大学

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)

研究期間 (年度) 2021-04-01 – 2024-03-31
キーワードstretchable / 3-axis / tactile sensor
研究実績の概要

In the current fiscal year, significant improvements have been made to the stretchable 3-axis tactile sensor, enhancing its robustness and performance. This version utilizes a novel approach by stitching four copper wires (VDD/power, SCL/clock, SDA/data bus, and GND/ground) into a stretchable fabric with a zig-zag pattern, allowing for the daisy-chaining of multiple hall-effect sensors. As a result, the sensor achieves a stretch rate increase of 250%. Moreover, this version of the sensor demonstrates a notable improvement in stretch-cycle durability, exceeding 1000 cycles. This advancement enables the successful mounting of the sensors onto the Allegro Hand, effectively covering one of its joints.

  • 研究成果

    (3件)

すべて 2023

すべて 学会発表 (3件)

  • [学会発表] FingerTac -An Interchangeable and Wearable Tactile Sensor for the Fingertips of Human and Robot Hands2023

    • 著者名/発表者名
      Prathamesh Sathe , Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Satoshi Funabashi and Sugano Shigeki
    • 学会等名
      IROS 2023
  • [学会発表] Vision-Touch Fusion for Predicting Grasping Stability using Self Attention and Past Visual Images2023

    • 著者名/発表者名
      Gang Yan , ZHIDA QIN, Satoshi Funabashi , Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Lorenzo Jamone, Shigeki Sugano
    • 学会等名
      ICDL 2023
  • [学会発表] Geometric Transformation: Tactile Data Augmentation for Robotic Learning2023

    • 著者名/発表者名
      Gang Yan , Yuyeol Jun, Satoshi Funabashi , Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Shigeki Sugano
    • 学会等名
      ICDL 2023

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公開日: 2024-12-25  

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