A tactile distribution sensor which enables stable measurement under high and dynamic stretch
A tactile distribution sensor which enables stable measurement under high and dynamic stretch
复制标题
触觉分布传感器，可在高动态拉伸下实现稳定测量
DOI：
--
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Y. Kuniyoshi
中科院分区：
文献类型：
--
作者：
Hassan Alirezaei;Akihiko Nagakubo;Y. Kuniyoshi
最近，我们一直在研究基于电阻抗断层扫描（EIT）的各种触觉分布传感器，电阻抗断层扫描（EIT）是一种非侵入性技术，仅从边界测量导电材料的电阻分布，并且不需要在传感区域内布线。在本文中，我们提出了一种新开发的导电结构，这是压力敏感，但拉伸不敏感，是基于（1）具有高电阻的可拉伸波浪状导电纱线网络和（2）具有低电阻的导电可拉伸片材之间的接触电阻的概念。基于这种新开发的结构，我们已经实现了一种新的触觉分布传感器，它可以在动态和大的拉伸从各个方向稳定的测量。在动态和复杂的变形情况下，如捏和推在气球表面的压力分布的稳定测量进行了演示。该传感器最初设计用于具有柔软和高度可变形身体的交互式机器人，但也可以用作新型用户界面设备或普通压力分布传感器。开发的触觉传感器的一些最显着的规格是高达140%的高拉伸性和在不利负载条件下的韧性。该传感器还具有成为像长袜织物一样薄和可拉伸的现实潜力。本研究的一个目标是将这种薄传感器与拉伸分布传感器相结合，以便实现更丰富和更复杂的触觉交互。
Recaently, we have been studying various tactile distribution sensors based on Electrical Impedance Tomography (EIT) which is a non-invasive technique to measure the resistance distribution of a conductive material only from a boundary, and needs no wiring inside the sensing area. In this paper, we present a newly developed conductive structure which is pressure sensitive but stretch insensitive and is based on the concept of contact resistance between (1)a network of stretchable wave-like conductive yarns with high resistance and (2)a conductive stretchable sheet with low resistance. Based on this newly developed structure, we have realized a novel tactile distribution sensor which enables stable measurement under dynamic and large stretch from various directions. Stable measurement of pressure distribution under dynamic and complex deformation cases such as pinching and pushing on a balloon surface are demonstrated. The sensor has been originally designed for implementation over interactive robots with soft and highly deformable bodies, but can also be used as novel user interface devices, or ordinary pressure distribution sensors. Some of the most remarkable specifications of the developed tactile sensor are high stretchability up to 140% and toughness under adverse load conditions. The sensor also has a realistic potential of becoming as thin and stretchable as stocking fabric. A goal of this research is to combine this thin sensor with stretch distribution sensors so that richer and more sophisticated tactile interactions can be realized.