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成果報告書詳細
管理番号20170000000703
タイトル*平成28年度中間年報 次世代人工知能・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2017/8/3
報告書年度2016 - 2016
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 - FY2017), FY2016 Annual Report
Kumamoto University

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 2016, we constructed an automatic spraying system to form a large area membrane with consistent thickness. Since a large area coating requires a lasting spraying, we developed a circulation system of our sol-gel solution. It enables a uniform piezoelectric film coating on a 10 cm x 10 cm base plate by combined with an automated scanning stage. Fabricated films had the uniform thickness distributions with repeatability. Moreover, we can fabricate a film with required thickness by multiple overcoating with the system. 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 2016, we conducted a primitive experiment with a custom speaker-microphone system. Since the system was not calibrated enough, the results are not sufficient. As another solution of the 1D approach, we challenged a string-shaped piezoelectric tactile sensor. For the first step, we tested a sol-gel spray coating on a curved surface. We confirmed that the piezoelectric film was attached on 50 mm diameter cylindrical surface.
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