成果報告書詳細
管理番号20160000000668
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 ロボットの全身を被覆する皮膚センサの確立と応用開発
公開日2016/9/7
報告書年度2015 - 2015
委託先名国立大学法人熊本大学
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: Strategic Advancement of Multi-Purpose Ultra-Human Robot and Artificial
Intelligence Technologies, Future Robot Technology, Research Project of Whole-Body
Robot Skin Sensor and Its Applications (FY2015 - FY2016), FY2015 Annual Report

Our research project is aspiring a whole-body robot skin sensor (tactile sensor) which covers
and fits a robot surface which has a 3D free form. There have been mainly two approaches
for the robot skin sensor. The first one is "zero dimensional approach" in which small and
discrete tactile sensors are attached onto the robot surface. We can utilize sensors with high
performance. Additionally, their arrangement intervals and positions are freely designed
depending on location of the robot surface. However, the approach requires accurate
positioning of the sensors. Moreover, wiring for power and signal transmission should be
cumbersome. The second one is "two dimensional approach" in which sheet-shaped or
film-shaped tactile sensors are attached on the robot surface. The approach does not suffer
from the wiring problem since the electrical connection is included in the sheet or the film.
However, to cover and fit onto the robot with the 3D free form, the sensor should be
adequate stretchable as well as flexible. On the other hand, our approaches are "3D
approach" and "1D approach". The first one employs piezoelectric membrane formed with
our sol-gel spraying technique. Since the piezoelectric material is applied onto the robot
surface by a spray, the robot skin sensor naturally covers and fits its surface shape. In FY
2015, we constructed an automatic spraying system to form a large area membrane with
consistent thickness. In addition, we developed a novel technique of piezoelectric burning
technique with a microwave oven and tried several material condition for efficient
membrane forming. We also designed and fabricated a spring probe connector to acquire the
sensor signal stably and a sensing circuit with a charge amplifier to measure static force. The
"1D approach" employs a string-shaped tactile sensor which is thin, long and flexible. The
sensor is constructed of a speaker, a flexible tube and a microphone. When the tube is
touched, it’s hollow sectional area around the touch point shall change. We estimate the
position of touch and the force of touch by calculating the changes of the tube’s sectional
area by using acoustic signal that the microphone acquires. The sensor can wind around and
fit tightly to any object with 3D free form. In FY 2015, we implemented a simulation
program of the proposed method based on PARCOR analysis. As a result of the simulation,
the method estimated the tube’s sectional area successfully. For next year, we will fabricate
an experimental system as well as improving the signal processing technique.
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