成果報告書詳細
管理番号20160000000563
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 革新的ロボット要素技術分野 スライドリングマテリアルを用いた柔軟センサーおよびアクチュエータの研究開発
公開日2016/9/7
報告書年度2015 - 2015
委託先名豊田合成株式会社 アドバンスト・ソフト・マテリアルズ株式会社
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約 Title:Research and development of flexible sensors and actuators with slide-ring material
Recently, labor shortages at care and welfare sites and the aging of the farming population have become matters of concern. As one of the solutions, introduction of robot technology is called for. At such sites, robots will be in a close positional relationship with humans; therefore, flexible sensors and driving sources are required to ensure safety.
This research and development aims to develop flexible actuators that enable robot joints to move flexibly without advanced control techniques such as compliance control, by the use of Slide Ring Material (SRM) that has the potential to exhibit properties very close to the mechanical properties of body tissues. It also aims to realize high-accuracy pressure sensors with a human skin-like softness. These flexible actuators and sensors will improve the safety of robots, thus contributing to the popularization of robots. Using the principle of dielectric elastomer actuation, the final targets for the flexible actuators are a displacement of 20% and a developed force of 22MPa. By the end of FY2016, we will develop property-specific (displacement, developed power) actuators so that we can have the prospect of achieving the final targets. We will also consider self-sensing that enables easier feedback by sensing the displacement of actuators.
SRM is used as a dielectric material. Large-displacement actuators require a dielectric material with low Young's modulus, while high developed-power actuators require a material with high dielectric strength. By considering the bridging chain of SRM, we were able to have the prospect of achieving our target Young’s modulus and dielectric strength. In FY2016, we will further advance the material development, consider actuator structures, and conduct evaluations of displacement and output.
In order to realize self-sensing, we considered estimating the displacement when an actuator is being driven by applying a high driving voltage, on which a high-frequency measurement signal is superposed via a transformer. Detecting the amount of the measurement signal current flowing through the actuator by synchronized detection leads to estimation of the displacement. We succeeded in speedy estimation compared with conventional technologies.
A capacitive sensing principle is adopted for the flexible sensors, aiming to capture the hardness and deformation of extremely soft materials such as biomaterials. We aim to achieve the sensitivity for determining the hardness of objects at 0.5MPa by the end of FY2016. These flexible sensors also use SRM as a dielectric material. In FY2015, we considered reducing the Young’s modulus of SRM and achieved our target Young’s modulus. In FY2016, we will further reduce the Young’s modulus of SRM and decrease the hysteresis loss so as to ensure measurement accuracy. In particular, we will consider electrode materials and sensor structures, while conducting hardness measurements of objects at 0.5MPa or less.
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